hitch_estimation_apriltag_array
- Software
- Perception
- Tool
A ROS 2 package that estimates the articulation angle between a mobile base and a cart hitched behind it, using an array of AprilTags on the cart and a rear-facing camera.
Source on GitHub: github.com/li9i/hitch-estimation-apriltag-array (opens in a new tab). Facts read at commit 9e9e211 (opens in a new tab).
Licenses
- Code
- BSD-3-Clause (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (BSD-3-Clause) at commit 9e9e211 (opens in a new tab), on 16 Oct 2026.
- Commercial use
- Yes
What it does
- Estimates the 6DOF transform between a rear-facing RGB camera on the mobile base and a forward-facing AprilTag array mounted on the cart.
- Derives the hitch angle between the base and the trailer from that transform.
- Can instead estimate only the AprilTag array's transform relative to the camera, by commenting out one include in the launch file.
- Tag sizes, frames and topics are configured in the launch files for apriltag_ros and the pose estimation nodes.
- Intended to support motion planning and control during autonomous navigation of articulated vehicles.
Written by Robotheca from the project's README (opens in a new tab) at commit 9e9e211.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Maintained: a commit in the last 12 months
- Newest commit
- 6 Jun 2026 on humble-devel
- Latest release
- None published on GitHub
Checked on GitHub on 16 Oct 2026.
Links
Robots that can run 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.