Feature request: Adding /tag_detections_image topic about apriltag_ros HOT 2 CLOSED

The apriltag_ros node only processes AprilTags and publishes the tag poses and raw AprilTag detections. There is a dedicated apriltag_viz node that uses the raw detections and publishes a visualisation on topic tag_detections_image.

This is intentional to keep the core processing node small. Since both noes implement the rclcpp::Node interface, you can put them into the same process with minimal / no IPC overhead. You could write a custom launch script that behaves like the ROS1 node and combines both as ComposableNode in a single ComposableNodeContainer.

from apriltag_ros.

Great; thanks! I hadn't seen the apriltag_viz package. Makes sense to keep those functions separate.

from apriltag_ros.