Tutorial for AprilTag Detection using a Zed camera

Overview

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

Note

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 && \
     ./scripts/run_dev.sh
   

4. Inside the container, build and source the workspace:

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

   Note

   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