melodic noetic   Show EOL distros: 

Overview

Currently supporting ROS Kinetic, Melodic and Noetic. Select the branch that matches your ROS distribution.

This package is developed independently from the creators of STag

[Original STag source and marker generation script](https://github.com/bbenligiray/stag)

Papers

[STag](https://www.sciencedirect.com/science/article/abs/pii/S0262885619300903)

[STag ROS](https://ieeexplore.ieee.org/document/9213977)

Package configuration

To use the package you need to edit the node config file (**e.g. cfg/single.yaml**) that loads all the parameters and the marker config file (**e.g. cfg/single_config.yaml**).

STag config file

In the configuration file you can specify information about the STag configuration, the camera topics and the stag_ros node.

Marker config Yaml file

STag ROS allows the detection of multiple markers and marker bundles as long as they all are from the same HD family. You can specify the individual markers and the marker bundles in a yaml file

Examples

First, download the example bags. This command will ` roslaunch stag_ros download_examples.launch BAG_DIR `

Run any of the following launch commands. ` roslaunch stag_ros rosNode_single.launch roslaunch stag_ros rosNode_bundle_2.launch roslaunch stag_ros rosNode_bundle_4.launch roslaunch stag_ros rosNodelet_single.launch roslaunch stag_ros rosNodelet_bundle_2.launch roslaunch stag_ros rosNodelet_bundle_4.launch `