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Hi fabbro,

Have you tried adding /apriltag2_tag_detections/pose/pose/position and /apriltag2_tag_detections/pose/pose/orientation to rqt_plot? That should work.

As for showing this pose in Rviz, I don't think Rviz is able to do that by default, but if you (also) publish just the pose on a separate topic, you can add a Pose display to Rviz that subscribes to that topic.

You can use topic_tools (wiki link) to automatically transform your messages to a geometry_msgs/Pose by running:

rosrun topic_tools transform /apriltag2_detections /apriltag2_detections_pose geometry_msgs/Pose 'm.pose.pose'

This will create a new topic that transforms your messages into poses that Rviz can easily visualize.

Good luck!

Hi fabbro,

Have Because detections is an array, you tried adding will have to add /apriltag2_tag_detections/pose/pose/position/apriltag2_tag_detections/detections[0]/pose/pose/position and /apriltag2_tag_detections/pose/pose/orientation/apriltag2_tag_detections/detections[0]/pose/pose/orientation to rqt_plot? That should work. to plot the values of the first detection.

As for showing this pose in Rviz, I don't think Rviz is able to do that by default, but if you (also) publish just the pose on a separate topic, you can add a Pose display to Rviz that subscribes to that topic.

You can use topic_tools (wiki link) to automatically transform your messages to a geometry_msgs/Pose by running:

rosrun topic_tools transform /apriltag2_detections /apriltag2_detections_pose /apriltag2_tag_detections /apriltag2_tag_detections_pose geometry_msgs/Pose 'm.pose.pose''m.detections[0].pose.pose'

This will create a new topic that transforms your messages into poses that Rviz can easily visualize.

Good luck!

Hi fabbro,

Because detections is an array, you will have to add /apriltag2_tag_detections/detections[0]/pose/pose/position and /apriltag2_tag_detections/detections[0]/pose/pose/orientation to rqt_plot to plot the values of the first detection.

As for showing this pose in Rviz, I don't think Rviz is able to do that by default, but if you (also) publish just the pose on a separate topic, you can add a Pose display to Rviz that subscribes to that topic.

You can use topic_tools (wiki link) to automatically transform your messages to a geometry_msgs/Pose by running:

rosrun topic_tools transform /apriltag2_tag_detections /apriltag2_tag_detections_pose geometry_msgs/Pose 'm.detections[0].pose.pose''m.detections[0].pose.pose'