Package Summary

Tags No category tags.
Version 3.2.1
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version master
Last Updated 2023-03-27
CI status Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

A ROS wrapper of the AprilTag 3 visual fiducial detection algorithm. Provides full access to the core AprilTag 3 algorithm's customizations and makes the tag detection image and detected tags' poses available over ROS topics (including tf). The core AprilTag 3 algorithm is extended to allow the detection of tag bundles and a bundle calibration script is provided (bundle detection is more accurate than single tag detection). Continuous (camera image stream) and single image detector nodes are available.

Additional Links


  • Danylo Malyuta
  • Wolfgang Merkt


  • Danylo Malyuta
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Changelog for package apriltag_ros

3.2.1 (2022-04-05)

  • Fixed propagation of apriltag and Eigen headers and libraries (#124)
  • Drop old C++11 as it breaks with new log4cxx.
  • Contributors: Jochen Sprickerhof, Remo Diethelm, Wolfgang Merkt

3.2.0 (2022-03-10)

  • Add transport hint option (#108)
  • Move to using the apriltag CMake target (#104)
  • Set the tag\'s parent frame to the camera optical frame (#101)
  • Fix bug in K matrix in single_image_client (#103)
  • Add configurable max_hamming_distance for the AprilTag Detector (#93)
  • Introduce lazy processing for ContinuousDetector (#80)
  • Contributors: Akshay Prasad, Amal Nanavati, Christian Rauch, Hongzhuo Liang, Wolfgang Merkt

3.1.2 (2020-07-15)

  • Add support for tagCircle21h7, tagCircle49h12 (#69)
  • Add support for tagCustom48h12 (#65)
  • Contributors: Anthony Biviano, Kyle Saltmarsh, Wolfgang Merkt, kai wu

3.1.1 (2019-10-07)

  • Add support for tagStandard41h12 and tagStandard52h13 (#63, #59).
  • Add gray image input support (#58).
  • Contributors: Alexander Reimann, Moritz Zimmermann, Samuel Bachmann, Wolfgang Merkt

3.1.0 (2019-05-25)

  • Prepare for release (3.1) and fix catkin_lint errors
  • Upgrade to AprilTag 3, fix installation, and performance improvements (#43) Upgrade to AprilTag 3, fix installation, and performance improvements
  • Rename package to apriltag_ros
  • Contributors: Wolfgang Merkt

1.0.0 (2018-05-14)

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