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To localize a robot base given a known position of an apriltag I would suggest these steps:

  1. Make sure you have a robot model with URDF that uses robot_state_publisher

  2. Launch a static transform broadcaster to publish a transform from map frame to tag frame

  3. Create a ROS node that subscribes to the apriltag detected tags

  4. When a apriltag is detected, get the transform of tag w.r.t. robot base

  5. Now calculate the transform of robot base w.r.t. tag (inverse transform of #4)

  6. Calculate the transform of robot base w.r.t. map (pose of robot base in the map coordinates)

  7. Broadcast the last transform (calculated in step #6)