Retrieving Apriltag offset from MAV local frame offset
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Re: Fixed frame pose MPA to ROS
Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.
For reference I am using a Starling with VOXL2 and system image: 1.7.6
My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.
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Re: Fixed frame pose MPA to ROS
Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.
For reference I am using a Starling with VOXL2 and system image: 1.7.6
My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.
@JoeAR_21 to correct VIO drift, voxl-vision-hub can correct using an AprilTag without any ROS involvement. If you just need to send the data to ROS for another purpose, you should extend voxl-mpa-to-ros to support tag detections
We love incorporating merge requests if you do end up with something useful!
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@JoeAR_21 to correct VIO drift, voxl-vision-hub can correct using an AprilTag without any ROS involvement. If you just need to send the data to ROS for another purpose, you should extend voxl-mpa-to-ros to support tag detections
We love incorporating merge requests if you do end up with something useful!
@Moderator said in Retrieving Apriltag offset from MAV local frame offset:
We love incorporating merge requests if you do end up with something useful!
Reply
I've made a quick fix here for anyone looking for it, ill try to make a merge request/real fix for it soon
GitHub - Joe1Ontiveros/ApriltagPublisher_Starling: Uses C++ to parse the voxl-inspect-tags output, in order to convert it into a ROS topic (PoseStamped)
Uses C++ to parse the voxl-inspect-tags output, in order to convert it into a ROS topic (PoseStamped) - Joe1Ontiveros/ApriltagPublisher_Starling
GitHub (github.com)
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