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View Code? Open in Web Editor NEWA ROS2 wrapper of the AprilTag 3 visual fiducial detector
License: Other
A ROS2 wrapper of the AprilTag 3 visual fiducial detector
License: Other
When including this package in a ROS2 Foxy workspace and running:
rosdep install --from-paths src --ignore-src -r -y
I get:
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
apriltag_ros: Cannot locate rosdep definition for [opencv]
Continuing to install resolvable dependencies...
#All required rosdeps installed successfully
Posting this here as it might help others.
Was able to build this package on Nvidia Jetson AGX Xavier with Jetpack 5.0.2, but with a warning regarding a conflict between different releases of some libopencv packages.
When running the package, the node shut down at once when a tag was detected.
The following error displayed:
[component_container-1] what(): OpenCV(4.5.4) /home/ubuntu/build_opencv/opencv/modules/core/src/matrix.cpp:250: error: (-215:Assertion failed) s >= 0 in function 'setSize'
[component_container-1]
[ERROR] [component_container-1]: process has died [pid 34486, exit code -6, cmd '/opt/ros/foxy/lib/rclcpp_components/component_container --ros-args -r __node:=tag_container -r __ns:=/apriltag']
Solved this issue by cloning and building the foxy branch of the vision_opencv git repo:
https://github.com/ros-perception/vision_opencv
Using packages built from source rather than binaries seemed to solve the issue.
I am running the node but not able to see any detections when I do echo on the /apriltag_detections topic. I am showing the camera some april tag images on my laptop with the correct family. The image topic is /camera/image_raw and I see pixel values when I do echo on that topic.
What could be the issue?
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