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AprilTag ROS 2

AprilTag Detection and Tracking with ROS 2

AprilTag Tracking Simulation AprilTag Tracking Robot AprilTag Tracking RViz
AprilTag Tracking - Simulation AprilTag Tracking - TurtleBot3 AprilTag Tracking - Remote PC

Note: The above demonstration uses code from this repository for controlling TurtleBot3 to follow the AprilTag marker.

Build:

  1. Make a directory ROS2_WS to act as your ROS 2 workspace. 
    $ mkdir -p ~/ROS2_WS/src/
  2. Clone this repository: 
    $ git clone https://github.com/Tinker-Twins/AprilTag-ROS-2.git
  3. Build the packages. 
    $ cd ~/ROS2_WS
$ colcon build
  4. Source the setup.bash file of your ROS2_WS. 
    $ echo "source ~/ROS2_WS/install/setup.bash" >> ~/.bashrc
$ source ~/.bashrc

Execute:

$ ros2 launch apriltag_ros apriltag_ros.launch.py