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April Tag Tracking with ROS
Paul edited this page Oct 5, 2017
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We are using the apriltags_ros library to track Roombas until our vision-based Roomba tracking is fully implemented.
Usage Instructions:
- Clone the iarc-2017 repository. The libraries folder contains a copy of the https://github.com/RIVeR-Lab/apriltags_ros.git repository.
- Edit the file apriltags_ros/apriltags_ros/launch/example.launch. Change the line so that the "to" argument refers to the topic with drone's video stream.
- Run the command catkin_make from inside your catkin workspace.
- Run the command roslaunch apriltags_ros example.launch to start the rosnode.
- Run the command rosrun rqt_gui rqt_gui, select Plugins > Visualization > Image View, and set the topic to /tag_detections_image to see the output.
- The topic /tag_detections_pose contains a geometry_msgs/PoseArray of all visible April tags.