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jokla/apriltag_nodelet.launch

Created November 10, 2021 11:33
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apriltag_nodelet.launch
<?xml version="1.0"?>
<launch>
<arg name="launch_prefix" default=""/>
<arg name="nodelet_manager" default="camera_nodelet_manager" />
<node pkg="nodelet" type="nodelet" name="$(arg nodelet_manager)" args="manager" cwd="node" output="screen" />
<node respawn="true" pkg="nodelet" type="nodelet" name="apriltag_ros" args="load apriltag_ros/ContinuousDetector $(arg nodelet_manager)" output="screen">
<rosparam command="load" file="$(find apriltag_ros)/config/settings.yaml"/>
<rosparam command="load" file="/home/nvidia/Desktop/tags.yaml"/>
</node>
</launch>
Raw
tags.yaml
# # Definitions of tags to detect
#
# ## General remarks
#
# - All length in meters
# - Ellipsis (...) signifies that the previous element can be repeated multiple times.
#
# ## Standalone tag definitions
# ### Remarks
#
# - name is optional
#
# ### Syntax
#
# standalone_tags:
# [
# {id: ID, size: SIZE, name: NAME},
# ...
# ]
standalone_tags:
[
# {id: 1, size: 0.08333, name: docking_target},
]
# ## Tag bundle definitions
# ### Remarks
#
# - name is optional
# - x, y, z have default values of 0 thus they are optional
# - qw has default value of 1 and qx, qy, qz have default values of 0 thus they are optional
#
# ### Syntax
#
# tag_bundles:
# [
# {
# name: 'CUSTOM_BUNDLE_NAME',
# layout:
# [
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# ...
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
# ]
# },
# ...
# ]
tag_bundles:
[
{
name: 'tag_0',
layout:
[
{ id: 0, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 1, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 2, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 3, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 4, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_1',
layout:
[
{ id: 5, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 6, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 7, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 8, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 9, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_2',
layout:
[
{ id: 10, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 11, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 12, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 13, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 14, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_3',
layout:
[
{ id: 15, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 16, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 17, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 18, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 19, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_4',
layout:
[
{ id: 20, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 21, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 22, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 23, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 24, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_5',
layout:
[
{ id: 25, size: 0.03, x: 0, y: 0, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 26, size: 0.4, x: -0.06, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 27, size: 0.4, x: 0.08, y: -0.08, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 28, size: 0.4, x: 0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 29, size: 0.4, x: -0.05, y: 0.015, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
{
name: 'tag_6',
layout:
[
{ id: 40, size: 0.104, x: -0.07, y: -0.07, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 41, size: 0.104, x: 0.07, y: -0.07, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 42, size: 0.104, x: 0.07, y: 0.07, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
{ id: 43, size: 0.104, x: -0.07, y: 0.07, z: 0, qw: 0, qx: 1, qy: 0, qz: 0 },
]
},
]
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