April Tag Opponent Detection

[Daniel-Martin576]

Goal: We want to experiment with detecting cars using April tags on the back of the vehicles. Really high-level overview:

1. Detect April Tags
   • http://wiki.ros.org/apriltag_ros
   • https://github.com/AprilRobotics/apriltag_ros
   • http://wiki.ros.org/ar_track_alvar/
2. Associate Tag with ID for each vehicle
3. Generate hitbox of the opponent car (so that we can dodge it)

Note: Must be able to keep track of multiple cars

New Files Created (at least): rr_evgp/src/tag_detection/tag_detection.cpp

Success Criteria:

• Node parameters configurable through the launch file
• Can detect April Tags
• Can associate tag to car Id
• Can place an obstacle where the car is currently located