about apriltag

[paulpaul91]

hi friend,I have seen your code about visual servoing.I have some problem.you have mdified the code about the apriltags_ros.How do you revise the code about corners?the corner is pixel or normalized?

[alexzzhu]

The package was added as a submodule before, but it looks like the repo for apriltags_ros has moved. The original message definition is as follows: int32 id float64 size geometry_msgs/PoseStamped pose float32[] points

I had modified the apriltags_ros code to basically publish the corners of the tag in the image, which is necessary for image based visual servoing. I can try to publish that code, but it's going to be a little old at this point. I'll put it on my todo list.