Newly supported apriltag_ros package

The April Robotics Lab's Github repository has a supported apriltag_ros package. The ROS Wiki documentation is here.

Nodes

april.ros.TagPublisher

ROS Wrapper for publishing tags using the April Tag Detection Library

Subscribed Topics

image_raw (sensor_msgs/Image)
  • Image stream to be used for tag detection
camera_info (sensor_msgs/CameraInfo)
  • Camera info message corresponding to the image stream

Published Topics

tags (april_msgs/TagPoseArray)
  • Tag information based on detected tags
/visualization_marker_array (visualization_msgs/MarkerArray)
  • Rviz markers corresponding to detected tags
/tf (tf/tfMessage)
  • Tag information published on the tf tree

Parameters

~tag_family (string, default: "april.tag.Tag36h11")
  • The family of tags to be detected
~tag_size (double, default: 0.095)
  • Tag size (in meters) required to project the tag in 3d space. Different sizes for different tag ids are currently not supported.
~use_camera_info (bool, default: true)
  • Use focal length values from the corresponding camera_info message or not
~focal_length_x (double, default: 485.6)
  • Focal length in the x axis (in pixels). This value is used if ~use_camera_info is set to false
~focal_length_y (double, default: ~focal_length_x)
  • Focal length in the y axis (in pixels). This values is used if ~use_camera_info is set to false. This value is typically equal to the focal length in the x axis.
~publish_visualization (bool, default: true)
  • Publish visualizaion for easy tag display in rviz
~tag_vis_magnification (double, default: 1.0)
  • Magnify the size of the visualized tag by this amount to make visualization in rviz easier
~broadcast_tf (bool, default: true)
  • Broadcast detected tags on the tf tree. Nodes reading tag information from the tf tree can use this package interchangeably with the ar_pose package.
~seg_sigma (double, default: 0.8)
  • Detector parameter. See library documentation/research paper for more details.
~sigma (double, default: 0.0)
  • Detector parameter. See library documentation/research paper for more details.
~min_mag (double, default: 0.004)
  • Detector parameter. See library documentation/research paper for more details.
~max_edge_cost (double, default: 0.5236)
  • Detector parameter. See library documentation/research paper for more details.
~mag_thresh (double, default: 1200.0)
  • Detector parameter. See library documentation/research paper for more details.
~theta_thresh (double, default: 100.0)
  • Detector parameter. See library documentation/research paper for more details.
~error_bits (int, default: 1)
  • Detector parameter. See library documentation/research paper for more details.
~weight_scale (int, default: 100)
  • Detector parameter. See library documentation/research paper for more details.
~seg_decimate (bool, default: false)
  • Detector parameter. See library documentation/research paper for more details.
~debug (bool, default: false)
  • Detector parameter. See library documentation/research paper for more details.

Usage

Running the node directly (with default parameters)

rosrun april_tags_node execute

Using roslaunch

roslaunch april_tags_node april_tags_node.launch

Running rviz

rosrun rviz rviz -d `rospack find april_tags_node`/config/rviz.vcg

roslaunch april_tags_node rviz.launch

Report a Bug

This package just serves as a wrapper for the APRIL toolkit. If you detect a bug in the wrapper, please report it on the repository page(http://code.google.com/p/utexas-ros-pkg/issues/list). If you find a bug in the APRIL toolkit, please contact the original developers.

Wiki: april_tags_node (last edited 2019-05-02 08:22:52 by rgreid)