apriltag_tools

misc tools for working with apriltags under ROS2

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README

ROS2 Apriltag tools package

This repository has a ROS2 tools for image processing related to AprilTags. For more about AprilTag detection under ROS2, see the apriltag_detector package.

Nodes

detect_from_bag

This node runs an apriltag detector on a bag with images and produces an output bag that has the original bag content plus the apriltag detections and debug images.

• Parameters:

  • in_bag: path of input bag

  • image_topic: name of image topic on which to run the AprilTag detector

  • image_tag_topic: output topic for images with detected AprilTags shown

  • tag_topic: output topic for detected tags

  • out_bag: path of output bag

Example:

ros2 run apriltag_tools detect_from_bag --ros-args -p "in_bag:=./input_bag" -p "image_topic:=/camera/image_raw" -p "out_bag:=./output_bag"

License

This software is issued under the Apache License Version 2.0.