AprilTag结合realsense d435i测试

最新推荐文章于 2024-12-10 17:16:13 发布

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最新推荐文章于 2024-12-10 17:16:13 发布 · 1.5k 阅读

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本文详细介绍了在ROS环境下安装和配置apriltag的过程，包括下载源码、编译安装、修改配置文件、启动相机、运行检测节点及可视化结果等步骤，帮助读者快速上手apriltag应用。

1）安装apriltag

1.下载apriltag代码。参考官方的教程下载安装。网上其他博客已失效。

https://github.com/AprilRobotics/apriltag_ros

export ROS_DISTRO=melodic               # Set this to your distro, e.g. kinetic or melodic
source /opt/ros/$ROS_DISTRO/setup.bash  # Source your ROS distro 
mkdir -p ~/catkin_ws/src                # Make a new workspace 
cd ~/catkin_ws/src                      # Navigate to the source space
git clone https://github.com/AprilRobotics/apriltag.git      # Clone Apriltag library
git clone https://github.com/AprilRobotics/apriltag_ros.git  # Clone Apriltag ROS wrapper
cd ~/catkin_ws                          # Navigate to the workspace
rosdep install --from-paths src --ignore-src -r -y  # Install any missing packages
catkin build    # Build all packages in the workspace (catkin_make_isolated will work also)

更新：

直接使用以下命令编译安装：

~/catkin_ws$ catkin_make