Detecting AprilTags in ROS - OxRAMSociety/RobotArm GitHub Wiki

Requirements: apriltag and apriltag_ros packages, both cloned into your workspace

This guide assumes you already have the Sonix webcam running with ROS.

Go to /apriltag_ros/config and edit both the config files to suit the AprilTags that you are using. You must specify the right AprilTag type, and add each AprilTag ID that you are using as well as their sizes.
Run the continuous detection node: roslaunch apriltag_ros continuous_detection.launch camera_name:="/camera" image_topic:="/color/image_raw"

We can visualise the AprilTag detection in RViz;