ROS index logo ROS Index
  1. Home
  2. Repos
 
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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

CONTRIBUTING

Repo symbol

hitch_estimation_apriltag_array repository

hitch_estimation_apriltag_array

ROS Distro
jazzy

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 (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

CONTRIBUTING

No version for distro noetic 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 2026-01-29
Dev Status MAINTAINED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Packages

Name Version
hitch_estimation_apriltag_array 0.0.2

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 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:

hitch_estimation_apriltag_array in action

ROS 2 buildfarm build status

Build Status

CONTRIBUTING