apriltag_ros
- Software
- Perception
- Library
A ROS 2 node that detects AprilTag markers in images and publishes their poses, ids and detection metadata. It is built on the AprilTag library.
Source on GitHub: github.com/christianrauch/apriltag_ros (opens in a new tab). Facts read at commit d1a4fe7 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit d1a4fe7 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Subscribes to rectified images (raw or compressed) and camera info, selected by the image_transport parameter.
- Computes each marker's pose from the homography and camera intrinsics, then publishes it on the standard TF topic.
- Child frame names default to tag<family>:<id>, or can be set per tag in the configuration file.
- Publishes an AprilTagDetectionArray with the homography, hamming distance and decision margin of each detection.
- Configured with a YAML parameter file covering tag family, tag edge size, detector tuning and a list of tag ids to publish.
- Supports families 16h5, 25h9, 36h11, Circle21h7, Circle49h12, Custom48h12, Standard41h12 and Standard52h13.
Written by Robotheca from the project's README (opens in a new tab) at commit d1a4fe7.
Getting started
- Difficulty
- Beginner
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 9 Oct 2026 on master
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots on Robotheca that use it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.