ROS Index
|
hitch_estimation_apriltag_array repositoryhitch apriltag ros2-humble hitch_estimation_apriltag_array |
Repository Summary
| Description | Estimate the angle between a mobile base and its trailer via April tag pose estimation |
| Checkout URI | https://github.com/li9i/hitch-estimation-apriltag-array.git |
| VCS Type | git |
| VCS Version | humble-devel |
| Last Updated | 2025-11-26 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | hitch apriltag ros2-humble |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Packages
| Name | Version |
|---|---|
| hitch_estimation_apriltag_array | 0.0.1 |
README
hitch_estimation_apriltag_array
The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a RGB camera assumed to be mounted at the rear of the mobile base and an array of April tags mounted at the front of the cart.
Parameters
April tag sizes, frames, topics, etc are set in the launchers
apriltag_ros.launch.xmlapriltag_array_pose_estimation.launch.xmlhitch_joint_state_estimation.launch.xml
Launch
Estimate the angle between the mobile base and the trailer with
ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml
Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely
<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>
CONTRIBUTING
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro kilted. Known supported distros are highlighted in the buttons above.
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No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.