Add support for AprilTag bundles

[amoramar]

Hello,

We are developing an application that requires highly accurate localization and we would like to leverage the capabilities of our NVIDIA Jetson Orin NX to achieve this using AprilTags.

We would be deeply interested in leveraging AprilTag bundles, as used in the apriltag_ros ROS package (https://github.com/AprilRobotics/apriltag_ros). In other words, we would like to be able to define a set of AprilTags with known individual properties (size, id, relative position to bundle reference point, etc.) and receive as output a refined localization estimate with respect to the reference point of said bundle.

We believe that this feature would have a very positive impact on the adoption of isaac_ros_apriltag, and we would highly appreciate it if you could consider adding it in the future.

Thank you for your time!

[jaiveersinghNV]

Thank you for your feedback! We don't currently have this feature on our roadmap but we'll keep your suggestion in consideration for the future.

In the meantime, I think you should be able to write your own postprocessing node that collects the single-tag detections from the existing Isaac ROS AprilTag node and identifies bundles. Taking a look at the original apriltag_ros source code, the implementation of bundle matching just uses the single-tag detecting function in a loop anyways.

Hope this helps!