The AR Tags package for AIR LAB at WPI
Install the latest version of librealsense by following instructions on the librealsense repository: librealsense
Create a catkin workspace and clone the realsense ROS wrapper: realsense-ros.
Clone ddynamic as well as it is required for the newer versions of realsense-ros: ddynamic_reconfigure
Clone this repository into your catkin workspace and compile.
Once compiled, source the workspace.
Connect the Intel RealSense camera and launch the rs_camera launch file:
roslaunch realsense2_camera rs_camera.launch
Next launch the AR nodes using the following command:
roslaunch calibrate_camera track_alvar.launch
The transform to the AR tag detected will be published in the tf topic under the frame artags.