{{{#!wiki tip '''Newly supported `apriltag_ros` package''' The April Robotics Lab's Github repository has a supported `apriltag_ros` [[https://github.com/AprilRobotics/apriltag_ros|package]]. The ROS Wiki documentation is [[apriltag_ros|here]]. }}} <<PackageHeader(apriltags_ros)>> <<TOC(4)>> == Overview == A ROS wrapper for the [[http://people.csail.mit.edu/kaess/apriltags/|AprilTags C++ library]]. Currently only supports 36h11 Tag family. == Nodes == {{{#!clearsilver CS/NodeAPI node.1 { name = apriltag_detector_node desc = Node to detect apriltags in an image. sub { 0.name = camera_info 0.type = sensor_msgs/CameraInfo 0.desc = Camera calibration and metadata. 1.name = image_rect 1.type = sensor_msgs/Image 1.desc = Rectified image to detect tags in. } pub { 0.name = tag_detections 0.type = apriltags_ros/AprilTagDetectionArray 0.desc = An array of the detected tags. 1.name = tag_detections_pose 1.type = geometry_msgs/PoseArray 1.desc = An array of detected tags as poses. 2.name = tag_detections_image 2.type = sensor_msgs/Image 2.desc = The input image with the detected tags drawn on it. } prov_tf { 0.from = sensor_frame_id 0.to = tag_frame_id 0.desc = Publishes a transform from the specified sensor_frame_id to each tag_frame_id } param { 0.name = ~sensor_frame_id 0.type = string 0.default = 0.desc = The name of the frame that the tag transforms are published relative to. If unset the frame_id specified in the image header. } } }}} == Nodelets == === apriltags_ros/AprilTagDetectorNodelet === The nodelet functions equivalently to the `apriltag_detector_node` node. ## AUTOGENERATED DON'T DELETE ## CategoryPackage