hitch_estimation_apriltag_array

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
jazzy

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	jazzy-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange

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

hitch_estimation_apriltag_array package from hitch_estimation_apriltag_array repo

hitch_estimation_apriltag_array

ROS Distro
humble

Package Summary

Version	0.0.2
License	BSD
Build type	AMENT_PYTHON
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type	git
VCS Version	humble-devel
Last Updated	2026-01-29
Dev Status	MAINTAINED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

A package that estimates the hitch joint state between a robot and a trailer by optical recognition of an array of April tags mounted at the front of the trailer by the rear camera of the robot

Additional Links

Maintainers

li9i

Authors

No additional authors.

hitch_estimation_apriltag_array

The hitch_estimation_apriltag_array package is intended to estimate the angle between a mobile base and a cart that is hitched to its rear. The calculation is performed by estimating the 6DOF transform between a rear-facing RGB camera assumed to be mounted at the rear of the mobile base and an array of forward-facing April tags mounted at the front of the cart.

Parameters

April tag sizes, frames, topics, etc are set in the launchers

apriltag_ros.launch.xml
apriltag_array_pose_estimation.launch.xml
hitch_joint_state_estimation.launch.xml

Launch

Estimate the angle between the mobile base and the trailer with

ros2 launch hitch_estimation_apriltag_array hitch_estimation_apriltag_array.launch.xml

Instead, if you wish to estimate only the transform of the April tag array with respect to the RGB camera, comment out the last include, namely

<include file="$(find-pkg-share hitch_estimation_apriltag_array)/launch/hitch_joint_state_estimation.launch.xml"/>

In action

The utility of this package is to facilitate motion planning and control during autonomous navigation of articulated vehicles. See video:

ROS 2 buildfarm build status

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake
	rclpy
	apriltag_ros
	geometry_msgs
	sensor_msgs
	tf_transformations
	tf2_ros
	ament_lint_auto
	ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `hitch_estimation_apriltag_array` at Robotics Stack Exchange