hitch_estimation_apriltag_array

A package that estimates the hitch joint state between a robot and a

trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

• Links
  • Rosindex
  • Website
  • Repository
  • Bugtracker
• Python API
  • hitch_estimation_apriltag_array package

• Standard Documents
  • PACKAGE
  • LICENSE
  • README
• ROS Package Dependencies
  • rclpy
  • apriltag_ros
  • geometry_msgs
  • sensor_msgs
  • tf_transformations
  • tf2_ros

README

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a RGB camera assumed to be mounted at the rear of the mobile base and an array of April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

• apriltag_ros.launch.xml

• apriltag_array_pose_estimation.launch.xml

• hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>