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Mastering ROS for Robotics Programming - Second Edition by Jonathan Cacace, Lentin Joseph

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Using AprilTag with ROS

AprilTag (https://april.eecs.umich.edu/software/apriltag.html) is a fiducial system particularly designed for robotics applications, thanks to its high level of precision computing the pose of AR markers, AprtilTag is particularly designed for robotics applications, you should clone the following repository:

$ git clone https://github.com/RIVeR-Lab/apriltags_ros.git

Now you can compile the ROS workspace in order to build the apriltags package and its ROS porting apriltags_ros. To use AprilTag, the following things are needed:

  • Video stream: The video data received via sensor_msgs/Image is elaborated by searching for a list.
  • Camera calibration: The calibration data received via sensor_msgs/CameraInfo, as shown in the ...

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