Apriltags for ROS2?

lorepieri8 · August 3, 2022, 1:05pm

As of today, how would you suggested to use Apriltags in ROS2?

Background issue:

ROS2 support

opened 10:28AM - 26 Jun 20 UTC

I created an AprilTag ROS2 node from scratch: https://github.com/christianrauch/…apriltag_ros. Would you be interested in hosting the repo in the `AprilRobotics` group/organisation? If we do so, it would be useful to align the message definitions and topics. The ROS2 node depends on a dedicated [`apriltag_msgs` repo](https://github.com/christianrauch/apriltag_msgs). I split the message definitions from the node so that they can be checked out independently from the node and library, e.g. for replaying logs or third party nodes. I extended the `AprilTagDetection.msg` with more information about the detected tag, so that it can be used by another [AprilTag visualisation node](https://github.com/christianrauch/apriltag_viz).

cst0 · August 3, 2022, 2:51pm

It looks like the problem there is that the upstream maintainers are not yet willing to accept the pull request that would port the package to ros2. The solutions I can think of would be:

People who want to use christian-rauch’s branch can build from source (which seems to be what is currently happening)
Upstream maintainers could change their minds, merging in the code and then doing the ROS2 release process
End-users could create their own .deb from source, which can be installed to whatever robots need the package
Given that this is such a different set of code than what is currently in the repo, it would be reasonable for christian-rauch to release their own code via the ROS2 release process under its own repository (this may be the best option)