Basic Setup For apriltag_ros

Making sure apriltag_ros returns tf

Before jumping straight to roslaunch the continuous_detection from apriltag_ros, please remember to calibrate your camera. See here for documentation on how to calibrate your camera.

Next, make sure that publish_tf under setting.yaml from the apriltag_ros package is set to true as shown below. If either one mentioned above is not sufficed, it is expected to receive zeros for translation and orientation even tags are detected when you echo /tf as shown below.

If everything is set as instructed, tf should return relative data as expected. An example is shown below.