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 todefault
.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.