Tutorial for AprilTag Detection using a Zed camera



This tutorial walks you through a graph to estimate the 6DOF pose of AprilTags using a ZED camera.


This tutorial requires a compatible ZED camera from the list available here

Tutorial Walkthrough

  1. Complete the ZED setup tutorial.

  2. Complete the quickstart here.

  3. Launch the Docker container using the run_dev.sh script:

    cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
  4. Inside the container, build and source the workspace:

    cd /workspaces/isaac_ros-dev && \
      colcon build --symlink-install && \
      source install/setup.bash


    If you are not using the ZED2i camera, modify the camera_model variable in the launch file. to zed, zed2, zed2i, zedm, zedx or zedxm. Also change the Fixed Frame in RViz to camera_model + _left_camera_optical_frame.

  5. Launch the pre-composed graph launch file and wait for 10 seconds:

    ros2 launch isaac_ros_apriltag isaac_ros_apriltag_zed.launch.py