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Localizing via April Tags

Given an AprilTag in a known (global) location, is it possible to use the relative location and orientation data to extract the robot's absolute global position and orientation? I am finding myself more than slightly confused about how to use the orientation data in each ar_pose_marker message to accomplish this.

Thanks!

Localizing via April Tags

Given an AprilTag in a known (global) location, is it possible to use the relative location and orientation data to extract the robot's absolute global position and orientation? orientation (in this case, a Turtlebot)? I am finding myself more than slightly confused about how to use the orientation data in each ar_pose_marker message to accomplish this.

Thanks!

Localizing via April Tags

Given an AprilTag in a known (global) location, is it possible to use the relative location and orientation data to extract the robot's absolute global position and orientation (in this case, a Turtlebot)? I am finding myself more than slightly confused about how to use the orientation data in each ar_pose_marker message to accomplish this.

I'm using the ar_track_alvar package.

Thanks!