Install

Clone into workspace and resolve dependencies:

rosdep install --from-paths src --ignore-src -y
colcon build

Setup

Print the tags in tags.pdf at 100% scale. See tags.tex for printing the tag images and config/tags.yaml for the setup.

Usage

Run the Azure Kinect launch file kinect_rgbd.launch and then start the AprilTag detection via:

. install/setup.sh
roslaunch jaffa_apriltag apriltag.launch

A debug image with the detected tags is published on topic /tag_detections_image.

The script visualisation.py will publish markers for the objects at their current pose for visualisation and debugging.