apriltags_ros

apriltags ros package for usb camera detection

ubuntu16.04 ROS kinetic

Demo videos 1

aprilTag detection ros wrapper

Demo videos 2

add aprilTag simulation

Source https://github.com/YuehChuan/tb3_aprilTag

Installation

PreInstall

for ubuntu16.04 sudo apt-get --yes install libcgal-qt5-dev libcgal-dev # for pr apriltags

for ubuntu14.04 sudo apt-get --yes install libcgal-dev # for pr apriltags

1.apriltags-cpp Building

git clone

To compile the code,

    cd apriltags_ros/software/apriltags-cpp
    mkdir build
    cd build
    cmake .. -DCMAKE_BUILD_TYPE=Release
    make
    sudo make install

How to Fly

2.apriltags ROS packages

    cd ~/apriltags_ros/apriltags_ws
    source environment.sh
    catkin_make 
    source environment.sh

Usage

Print out tag36h11.pdf in apriltags_ros/software/ with your desire size.

edit tag size in apriltags_ros/apriltags_ws/src/launch/usb_cam_apriltags.launch

For example The tag ID 1 inner width is 82mm set 0.082m

   <rosparam param="tag_data">
      "1": 
        size: 0.082  
      "2":
        size: 0.048
    </rosparam>

also remap right topic for your camera device the default using usb_cam. ex:

Open 4 terminal shows like this, you can utilize byobu tool.

Terminal1: roslaunch usb_cam usb_cam-test.launch

Terminal2: roslaunch apriltags usb_cam_apriltags.launch

Terminal3: rostopic echo /apriltags/detections

Terminal4: rosrun image_view image_view image:=/usb_cam/image_raw