ROS 2 package is designed to provide tools and utilities for working with AprilTags in ROS-based robotics applications.
git clone https://github.com/khaledgabr77/apriltag_tools_ros.git
This package now includes functionality to convert AprilTag detections from the isaac_ros_apriltag
package to pose arrays. This conversion enables users to obtain pose information directly from AprilTag detections, which can be useful for localization, mapping, and navigation tasks in robotics applications.
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Launch the Conversion Node: Use the provided launch file to start the conversion node.
ros2 launch apriltag_tools_ros apriltag_detection_to_pose.launch.py
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Subscribe to Pose Array: Subscribe to the
apriltag_pose_array
topic to receive pose information corresponding to detected AprilTags.
The conversion node (apriltag_detection_to_pose.py
) subscribes to the AprilTag detections topic published by the isaac_ros_apriltag
package. Upon receiving detection messages, it converts each detection to a pose message and publishes them as a pose array.