5. April Tags¶
5.1. Learning Objectives¶
In this example, we show how to detect April Tags in a scene.
Prerequisites
Completed Cameras and Transform Trees.
Install the apriltag-ros package for April Tag detection.
ros_workspace was sourced.
5.2. Detect April Tags¶
Open the April Tag example by going to Isaac Examples -> ROS -> April Tag. Three April Tags will show up in the viewport. Open up the Stage Tree, and you should see a ROS_camera and ROS_PoseTree have already been added.
Press Play to start publishing data to ROS
In a new terminal with your ROS environment sourced, run
roslaunch isaac_tutorials apriltag_continuous_detection.launch
to run the april_tag detection node.In a new terminal with your ROS environment sourced, run
rviz -d ros_workspace/src/isaac_tutorials/rviz/apriltag_config.rviz
to start rviz and show the detections from the camera imageTo see the raw data for the detected tags run
rostopic echo tag_detections
5.3. Summary¶
This tutorial shows the basics of detecting April Tags in Omniverse Isaac Sim.
5.3.1. Next Steps¶
Continue on to the next tutorial in our ROS Tutorials series, ROS Navigation.
5.3.2. Further Learning¶
More on April Tags with ROS
If you wish to attach your own April Tag to objects, instructions are in April Tags