Tutorial for AprilTag Detection with Isaac Sim

Overview

This tutorial walks you through a graph to estimate the 6DOF pose of AprilTags using images from Isaac Sim.

Tutorial Walkthrough

1. Complete the quickstart here.

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

   cd ${ISAAC_ROS_WS}/src/isaac_ros_common && \
     ./scripts/run_dev.sh
   

3. Launch the pre-composed graph launch file:

   ros2 launch isaac_ros_apriltag isaac_ros_apriltag_isaac_sim_pipeline.launch.py
   

4. Install and launch Isaac Sim following the steps in the Isaac ROS Isaac Sim Setup Guide

5. Press Play to start publishing data from the Isaac Sim.

   

6. In a separate terminal, run RViz to visualize the AprilTag detections:

   rviz2 -d $(ros2 pkg prefix isaac_ros_apriltag --share)/rviz/default.rviz
   

   

7. If you prefer to observe the AprilTag output in text form, echo the contents of the /tag_detections topic with the following command in a separate terminal:

   ros2 topic echo /tag_detections