Dummy Test Package

This is for testing ... not sure what value it is to others. I am just trying out some ros2 things.

Nodes

colcon build --packages-select dummy_pkg
ros2 run dummy_pkg <node>

• dummy_node: doesn't do anything
• lidar_node: publishes a LaserScan message
• transform_node: publishes a TransformedStamped message

Launch

ros2 launch dummy_pkg <script>

• tf_launch
• rosbag_launch: run imu_node and urg_node and stores messages in a bag

Foxglove

Node(
    package="foxglove_bridge",
    executable="foxglove_bridge",
    name="foxglove_bridge",
    parameters=[
        {"port": 8765},
        {"address": "0.0.0.0"},
        {"tls": False},
        {"topic_whitelist": [".*"]},
        {"send_buffer_limit": 10000000},
        {"use_sim_time": False},
        {"num_threads": 0}
    ]
)

ROS2 Useful Packages

WARNING: There are already AprilTag apt packages available and I don't know what the difference is:

• sudo apt install ros-jazzy-apriltag UMich
• sudo apt install ros-jazzy-apriltag-ros Christian Rauch
• sudo apt install ros-jazzy-apriltag-detector Bernd Pfrommer

• image_transport tutorials for ROS2
• ROS2 Apriltag detector: Find apriltags in image
  • subscribe:
    • image_rect(raw): sensor_msgs/msg/Image
    • image_rect/compressed: sensor_msg/msg/CompressedImage
    • camera_info: sensor_msgs/msg/CameraInfo
  • publish:
    • tf: tf2_msgs/msg/TFMessage and child_frame_id is set to tag<family>:<id> (e.g., tag36h11:21)
    • detections: apriltag_msgs/msg/AprilTagDetectionArray
• ROS2 Apriltag Messages: Broadcast messages of tags
  • AprilTagDetection: single tag detection
  • AprilTagDetectionArray: multiple tag detections
  • Point: 2D x,y point used in above messages
• Apriltag Draw Marker on Image: Debug, show Apriltag found in image
  • publish: tag_detections_image
  • subscribe:
    • image: image_transport
    • detections: AprilTagDetectionArray
  • parameters:
    • overlay_mode: string, draw axes on image, default is axes
    • image_transport: default is raw
• libcamera simple camera code: maybe useful for writing C++ libcamera driver?

Other

$ apt search apriltag
...
apriltag/noble 3.3.0-2.1build1 arm64
  AprilTags Visual Fiducial System

libapriltag-dev/noble 3.3.0-2.1build1 arm64
  AprilTags Visual Fiducial System

python3-apriltag/noble 3.3.0-2.1build1 arm64
  AprilTags Visual Fiducial System

Christian Rauch

$ sudo apt info ros-jazzy-apriltag-ros
Package: ros-jazzy-apriltag-ros
Version: 3.2.2-1noble.20240607.222731
Priority: optional
Section: misc
Maintainer: Christian Rauch <[email protected]>
Installed-Size: 455 kB
Depends: libc6 (>= 2.34), libconsole-bridge1.0 (>= 1.0.1+dfsg2), libgcc-s1 (>= 3.3.1), libopencv-calib3d406t64 (>= 4.6.0+dfsg), libopencv-core406t64 (>= 4.6.0+dfsg), libstdc++6 (>= 13.1), ros-jazzy-apriltag, ros-jazzy-apriltag-msgs, ros-jazzy-cv-bridge, ros-jazzy-image-transport, ros-jazzy-rclcpp, ros-jazzy-rclcpp-components, ros-jazzy-sensor-msgs, ros-jazzy-tf2-ros, ros-jazzy-ros-workspace
Download-Size: 117 kB
APT-Sources: http://packages.ros.org/ros2/ubuntu noble/main arm64 Packages
Description: AprilTag detection node

MIT License

Copyright (c) 2024 Reckless Ted's Funland

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.