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RoboticaUtnFrba / create_autonomy

ROS autonomy stack for iRobot Create 2.
BSD 3-Clause "New" or "Revised" License
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Ground truth with AprilTags #31

Open eborghi10 opened 5 years ago

eborghi10 commented 5 years ago

Ground truth in the real robot can be done using AprilTags. There is a ROS package that implements AprilTags called apriltags_ros.

The following links explain what an AprilTag is and why it's used for global localization:

Note: there is no need to implement this in the Gazebo simulator because you already have a ground truth localization in the /gts topic.

eborghi10 commented 4 years ago

Two WIP PRs were pushed here: #107 and #108.