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AprilRobotics / apriltag_ros

A ROS wrapper of the AprilTag 3 visual fiducial detector
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everything seems ok but no tf published and the tag_detections/image is not corret #140

Open Elio-in-summer opened 2 years ago

Elio-in-summer commented 2 years ago

Ubuntu 10.04 ROS noetic I have install apriltag_ros step by step in my workspace according to the github's guide And write .launch and yaml according to the doc When I open the debug mode and check intermediate figure in .ros , it seems the algorithm works well here is the yaml : setting.yaml

tag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12 tag_threads: 2 # default: 2 tag_decimate: 1.0 # default: 1.0 tag_refine_edges: 1 # default: 1

publish_tf: true # default: true

tag_blur: 0.0 tag_debug: 1 max_hamming_dist: 2
transport_hint: "raw"

tags.yaml: standalone_tags: [ {id: 22, size: 0.5}, ] tag_bundles: [ { name: 'my_bundle', layout: [ {id: 22, size: 0.5, x: 0.0, y: 0.0, z: 0.0, qw: 1.0, qx: 0.0, qy: 0.0, qz: 0.0}, ] } ]