apriltag_detector_mit

ROS package for apriltag detection with MIT detector

• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API
• Standard Documents
  • CHANGELOG
  • CONTRIBUTING
  • LICENSE
  • PACKAGE
  • README

README

ROS MIT Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the MIT apriltag library implementation.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_mit::Component

• Topics (subscribed, but ONLY when there is a subscriber to tags):

  • image: image topic to use.

  • tags: the detected tags from the apriltag library.

• Topics (published):

  • tags: tag detections.

• Parameters:

  • black_border_width. Integer specifying the thickness of the black border (in bits). Default: 1.

  • image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.

  • image_transport: The type of image transport to use, e.g. compressed. Default: `raw``.

  • tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11. Default: tf36h11

License

This software is issued under the Apache License Version 2.0. Note that this package links against the MIT apriltag detector which is licensed under LGPLv2.1.