Hi,
I have been working on ROS2 nodes for the Raspberry Pi camera (a.k.a. raspicam) and the AprilTag detector. Both are implemented as components and are therefore composable for intraprocess communication.
I am open for all contributions and also don’t mind if the packages get moved to official ros2 groups like ros2-drivers or ros2-perception.
Raspberry Pi Camera (raspicam2)
This is a port of the original raspicam_node from ROS1.
AprilTag2 detector (apriltag2_node)
The implementation uses the original apriltag2 library from https://april.eecs.umich.edu/software/apriltag.html. For integration with ament workspaces, I am using a CMake version of this library: https://github.com/christianrauch/apriltag2.
Given the camera parameters, apriltag2_node computes the pose of the marker in the camera frame. It also publishes the raw detections (including the quality of the detection for filtering) and therefore depends on apriltag_msgs definitions from https://github.com/christianrauch/apriltag_msgs.