Glad you got it working, let me know if you have any more questions. Apriltag relocalization is still a fairly new feature with only me and a few other customers really using it extensively so any feedback is appreciated. Thank you!

Thank you for the very detailed report, that is extremely helpful. You were right to notice the translation did not update when you change the tag size. I found the documentation incorrectly listed the config file in which this parameter exists, it should be set in '/etc/modalai/vio_apriltag_app.xml' instead.

Sorry for the confusion, I've updated the documentation.

https://docs.modalai.com/voxl-vision-px4-apriltag-relocalization/

As a heads up, we will soon have a standalone apriltag detection service which will consolidate the tag-size parameter along with the ids, translations, and rotations into its own config file. This should make the setup process less confusing.

@vaughanje

voxl-configure-cameras doesn't have a hires-only option but option #4 (hires + tracking) should work for you. Any option that sets the HIRES_CAM_ID to 0 which will be it's index if it's the only camera connected. You also need to make sure the "ROS_IP" variable is set correctly in ~/my_ros_env.sh otherwise roscore will fail to start and no nodes will start. That's just a fun feature of ROS that it needs to know its own IP address before starting even when only running nodes locally.

After running voxl-configure-cameras or updating ~/my_ros_env.sh make sure to refresh the new bash environment variables with "exec bash"

The ROS node needs to be run in either master mode if running alone, or slave mode if the rtsp streamer was started first. The ROS node cannot be started before the RTSP stream. The command to launch the hires cam in master mode is:

roslaunch voxl_cam_ros hires.launch
OR
roslaunch voxl_cam_ros hires_color.launch

To run as slave:
roslaunch voxl_cam_ros hires.launch is_cam_master:=false
OR
roslaunch voxl_cam_ros hires_color.launch is_cam_master:=false

Regards,
James