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hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING

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Repo symbol

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
humble

Repository Summary

Checkout URI https://github.com/li9i/hitch-estimation-apriltag-array.git
VCS Type git
VCS Version humble-devel
Last Updated 2025-11-26
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.1

README

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 RGB camera assumed to be mounted at the rear of the mobile base and an array of 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"/>

CONTRIBUTING