Camera Positioner

This package provides a continuous tf2 transform of a (movable / static) camera based on Apriltags detected in the image.

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Usage

• The camera positioner can be started with the following command:

roslaunch camera_positioner camera_positioner.launch

• This will not start any camera drivers, it will just publish the transform from the world frame to the camera's root frame and update it everytime the apriltag is detected.

Parameters:

• camera_rgb_optical_frame the frame that used for detect april tag
• camera_link Base camera link
• shared_frame Shared frame
• world_frame World frame
• static_camera Weather the camera is static