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Newly supported apriltag_ros package

The April Robotics Lab's Github repository has a supported apriltag_ros package. The ROS Wiki documentation is here.

WARNING: This documentation refers to an old version of the rosjava_core install documentation; it will probably work but may break with future releases.


The April toolkit is maintained by the APRIL lab at the University of Michigan. This stack provides a ROS wrapper (using rosjava) around the fiducial marker system provided by this toolkit. (web) (paper)


These installation instructions assume that you are running ROS Fuerte (or newer), and have followed the rosjava_core installation instructions (http://docs.rosjava.googlecode.com/hg/rosjava_core/html/installing.html).

Install the April stack using the appropriate rosinstall file:

rosws merge http://utexas-ros-pkg.googlecode.com/svn/trunk/rosinstall/april.rosinstall
rosws update april

Now, open up a new terminal, and rebuild rosjava_messages to create corresponding Java classes for the april_msgs package.

roscd rosjava_messages
../gradlew install

Finally, ensure all system dependencies are present using the rosdep tool. If you don't have rosdep installed, use the following commands to install it:

sudo apt-get install python-rosdep
sudo rosdep init

Update rosdep and install any missing dependencies:

rosdep update
rosdep install april

Finally, build the april stack:

rosmake april


See april_tags_node for the ROS Wrapper, and april_tk to run the standalone executables.

Report a Bug

Report bugs on the corresponding repo page (http://code.google.com/p/utexas-ros-pkg/issues/list)

2024-06-22 12:36