From ecb6da23eb1650f5d36fb0da215cf6b5a1852fcf Mon Sep 17 00:00:00 2001
From: Michel Breyer <10465414+mbreyer@users.noreply.github.com>
Date: Fri, 3 Dec 2021 10:53:23 +0100
Subject: [PATCH] Launch AprilTag
---
cfg/apriltag.yaml | 12 ++++++++++++
launch/apriltag.launch | 20 ++++++++++++++++++++
launch/hw.launch | 13 +++++++++++++
launch/panda.launch | 6 ------
4 files changed, 45 insertions(+), 6 deletions(-)
create mode 100644 cfg/apriltag.yaml
create mode 100644 launch/apriltag.launch
create mode 100644 launch/hw.launch
diff --git a/cfg/apriltag.yaml b/cfg/apriltag.yaml
new file mode 100644
index 0000000..4a5259f
--- /dev/null
+++ b/cfg/apriltag.yaml
@@ -0,0 +1,12 @@
+ # AprilTag 3 code parameters
+tag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12
+tag_threads: 2 # default: 2
+tag_decimate: 1.0 # default: 1.0
+tag_blur: 0.0 # default: 0.0
+tag_refine_edges: 1 # default: 1
+tag_debug: 0 # default: 0
+publish_tf: true # default: false
+
+# Definitions of tags to detect
+standalone_tags: [{id: 0, size: 0.091}]
+tag_bundles: []
diff --git a/launch/apriltag.launch b/launch/apriltag.launch
new file mode 100644
index 0000000..3953d7d
--- /dev/null
+++ b/launch/apriltag.launch
@@ -0,0 +1,20 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/launch/hw.launch b/launch/hw.launch
new file mode 100644
index 0000000..5660729
--- /dev/null
+++ b/launch/hw.launch
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/launch/panda.launch b/launch/panda.launch
index b8765ac..7f0aac9 100644
--- a/launch/panda.launch
+++ b/launch/panda.launch
@@ -30,10 +30,4 @@
-
-
-
-
-
-