17.2. AprilTag

There is a PR for porting the good old apriltag_ros package to ROS2.

https://github.com/wep21/apriltag_ros/tree/ros2-port/apriltag_ros

You will have to clone this package and manually switch to the the ros2-port branch afterwards.

There is an alternative package by Christian Rauch, that works somewhat different but has a simpler code base. Unfortunately it does not support tag bundles.

17.2.1. Generate Parameter Files

To either select the tags, that should be detected, or create a tag bundle configuration, run

$ ros2 run hippo_sim generate_tag_poses.py --out-dir `pwd`

to create the corresponding files in the current directory.

To show the list of available arguments run

$ ros2 run hippo_sim generate_tag_poses.py -h