Tutorial for AprilTag Detection with Isaac Sim



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 && \
  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