Apriltag ROS2 package can not be found

[wangzizhe]

Hi Christian,

I found Apriltag for ROS2 could be installed using sudo apt-get install ros-humble-apriltag (my ROS2 version is humble), it will display that the installation is successful, but you can’t find this package using ros2 pkg list, under opt/ros/humble/share you can see the apriltag folder, but when you go into it, you find it is actually not a package, inside there is only a cmake folder.

It is somehow strange, or I did something wrong?

Thanks in advance!

[christianrauch]

ros-humble-apriltag is just the apriltag library from https://github.com/AprilRobotics/apriltag, which is a regular CMake package with a package.xml. Only ament packages will be registered and listed as a ROS packages. The ROS node can be installed with package ros-humble-apriltag-msgs.

[wangzizhe]

Thx

Now I figured out the differences:

• ros-humble-apriltag

  • https://github.com/AprilRobotics/apriltag
  • AprilTag is a visual fiducial system popular in robotics research. This repository contains the most recent version of AprilTag, AprilTag 3, which includes a faster (>2x) detector, improved detection rate on small tags, flexible tag layouts, and pose estimation. AprilTag consists of a small C library with minimal dependencies

• https://github.com/AprilRobotics/apriltag_ros

  • A ROS wrapper of the AprilTag 3 visual fiducial detector

• https://github.com/christianrauch/apriltag_ros

  • ROS2 node for AprilTag detection

• ros-humble-apriltag-msgs

  • AprilTag message definitions