5. April Tags

5.1. Learning Objectives

In this example, we show detect April Tags in a scene.

Prerequisite

5.2. Detect April Tags

  • Open the April Tag example by going to Isaac Examples -> ROS -> April Tag. Three April Tags will show up in the viewport. Open up the Stage Tree, and you should see a ROS_camera and ROS_PoseTree have already been added.

../_images/isaac_ros_apriltag.png
  • In a new terminal with your ROS environment sourced, run roslaunch isaac_tutorials apriltag_continuous_detection.launch to run the april_tag detection node.

  • In a new terminal with your ROS environment sourced, run rviz -d ros_workspace/src/isaac_tutorials/rviz/apriltag_config.rviz to start rviz and show the detections from the camera image

  • To see the raw data for the detected tags run rostopic echo tag_detections

../_images/isaac_ros_apriltag_rviz.png

5.3. Summary

This tutorial shows the basics of detecting April Tags in Omniverse Isaac Sim.

5.3.1. Next Steps

Continue on to the next tutorial in our ROS Tutorials series, ROS Navigation.

5.3.2. Further Learning