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AprilTag

Configuration Items

  • plugin_apriltag_tag_family: Sets the type of AprilTag. Default is tag36h11
  • plugin_apriltag_tag_size: Sets the grid length of AprilTag. Default is 0.04 meters
  • plugin_apriltag_signal: Sets the semaphore ID that triggers the recognition function. Default is 13

Semaphore-Triggered Recognition

After setting the semaphore value to the tag ID, the plugin will calculate the tag's position relative to the base and save it in the position library as apriltag{ID} (where {ID} is the tag ID). Finally, the semaphore value will be set to -1