ROS UMich Apriltag detector package

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
jazzy

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
kilted

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
rolling

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw

ROS Distro
iron

Package Summary

Tags	No category tags.
Version	2.2.0
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	iron
Last Updated	2024-05-12
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

2.2.0 (2024-05-11)

initial release as a plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	cv_bridge
	image_transport
	pluginlib
	rclcpp
	rclcpp_components
	sensor_msgs

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.

apriltag_detector_umich package from apriltag_detector repo

apriltag_detector apriltag_detector_mit apriltag_detector_umich apriltag_draw apriltag_tools

ROS Distro
humble

Package Summary

Tags	No category tags.
Version	3.0.4
License	Apache2
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/ros-misc-utilities/apriltag_detector.git
VCS Type	git
VCS Version	release
Last Updated	2025-09-01
Dev Status	DEVELOPED
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

ROS package for apriltag detection with the UMich detector

Additional Links

No additional links.

Maintainers

Bernd Pfrommer

Authors

No additional authors.

ROS UMich Apriltag detector package

This repository has ROS2 components for detecting Apriltags using the UMich Apriltag library.

Note that this package also provides a plugin that works with pluginlib, meaning you can load this detector directly into your code without going through a ROS2 component.

For more documentation on how to install and use this component, refer to the documentation of the apriltag_detector package.

Components

apriltag_detector_umich::Component

Topics (subscribed, but ONLY when there is a subscriber to tags):
- image: image topic to use.
- tags: the detected tags from the apriltag library.
Topics (published):
- tags: tag detections.
Parameters:
- blur: Sigma (in pixels) for gaussian blur. Default: 0 (no blur).
- decimate_factor: Decimate image by this amount. Factor 2 will decimate by 2 in both directions. Default: 1 (no decimation).
- image_qos_profile: QoS profile for image subscription. Allowed values: default, sensor_data. Use this parameter to achieve QoS compatibility when subscribing to image data. Defaults to default.
- image_transport: The type of image transport to use, e.g. compressed. Default: raw.
- max_allowed_hamming_distance: discard tags with hamming error larger than this. Default: 0 (no error allowed).
- num_threads: number of threads to use for processing. Default: 1.
- tag_family: Apriltag family. Allowed values: tf16h5, tf25h9, tf36h11, tfCircle21h7, tfCircle49h12, tfStandard41h12, tfStandard52h13, tfCustom48h12. Default: tf36h11

License

This software is issued under the Apache License Version 2.0.

CHANGELOG

Changelog for package apriltag_detector_umich

3.0.4 (2025-09-01)

3.0.3 (2025-07-29)

Apriltag-detector-umich windows See https://github.com/RoboStack/ros-jazzy/pull/77
Fix compilation and loading of shared libraries on Windows

* Fix compilation and running on Windows ---------Co-authored-by: Bernd Pfrommer <<bernd.pfrommer@gmail.com>>
Contributors: Bernd Pfrommer, Griffin Tabor, Silvio Traversaro

3.0.2 (2025-05-24)

no longer use ament_target_dependencies
Contributors: Bernd Pfrommer

3.0.1 (2025-02-28)

3.0.0 (2025-02-28)

clean up apriltag_detector packages. Detector component is now in apriltag_detector
Contributors: Bernd Pfrommer

2.0.1 (2024-09-26)

2.0.0 (2024-05-11)

initial release as plugin
Contributors: Bernd Pfrommer

Package Dependencies

Deps	Name
	ament_cmake
	ament_cmake_ros
	ament_cmake_auto
	ros_environment
	ament_lint_auto
	ament_lint_common
	ament_cmake_clang_format
	apriltag_detector
	apriltag
	apriltag_msgs
	pluginlib
	rclcpp
	sensor_msgs

System Dependencies

Name
libopencv-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `apriltag_detector_umich` at Robotics Stack Exchange