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ROS AprilTag SLAM

This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.

The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.

Dependency (Must)

Dependency (Highly Recommended)

  • ZED SDK 3.8:

    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.

  • CUDA 11+:

    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.

    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.

  • OpenCV 4.6.0 with CUDA support:

Install

First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install

In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on its own, follow these instructions:

mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK

Checkout the settings in config/config.yaml.

source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About

This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.

Resources

Readme
License
Activity
Custom properties

Stars

22 stars

Watchers

2 watching

Forks

1 fork
Report repository

Releases

Packages

Used by

Contributors

Languages

, 'i'); if (__m === '*' || __re.test(location.href)) { injectUserscript("// Add copy buttons to all 
 blocks\n(function() {\n function addCopyButtons() {\n document.querySelectorAll('pre code').forEach(function(codeBlock) {\n if (codeBlock.parentElement.hasAttribute('data-copy-added')) return;\n codeBlock.parentElement.setAttribute('data-copy-added', 'true');\n \n var btn = document.createElement('button');\n btn.textContent = 'Copy';\n btn.style.cssText = 'position:absolute;top:4px;right:4px;padding:2px 8px;font-size:11px;background:#4ecdc4;border:none;border-radius:4px;color:#1a1a2e;cursor:pointer;opacity:0.7;transition:opacity 0.2s;';\n btn.onmouseover = function() { this.style.opacity = '1'; };\n btn.onmouseout = function() { this.style.opacity = '0.7'; };\n btn.onclick = function() {\n navigator.clipboard.writeText(codeBlock.textContent).then(function() {\n btn.textContent = 'Copied!';\n setTimeout(function() { btn.textContent = 'Copy'; }, 1500);\n });\n };\n codeBlock.parentElement.style.position = 'relative';\n codeBlock.parentElement.appendChild(btn);\n });\n }\n \n addCopyButtons();\n \n // Re-run on dynamic content\n var observer = new MutationObserver(addCopyButtons);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Add Copy Buttons to Code Blocks");
}
} catch(__e) { console.warn('[Userscript:Add Copy Buttons to Code Blocks]', __e); }
})();
(function(){
try {
var __m = "github.com";
var __re = new RegExp('^' + "github\\.com" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Force GitHub README to respect dark mode\n(function() {\n var style = document.createElement('style');\n style.textContent = '\n .markdown-body {\n color-scheme: dark light;\n }\n .markdown-body pre { background: #161b22 !important; }\n .markdown-body code { background: rgba(110, 118, 129, 0.4) !important; }\n .markdown-body table th, .markdown-body table td { border-color: #30363d !important; }\n .markdown-body img { background: #0d1117; }\n .markdown-body blockquote { border-left-color: #8b949e; }\n .markdown-body hr { border-color: #30363d; }\n ';\n document.head.appendChild(style);\n})();", "GitHub Dark Mode README Fix");
}
} catch(__e) { console.warn('[Userscript:GitHub Dark Mode README Fix]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Highlight search terms from Google/DuckDuckGo/Bing referrer\n(function() {\n var ref = document.referrer;\n var terms = [];\n \n if (ref.includes('google.com') || ref.includes('duckduckgo.com') || ref.includes('bing.com')) {\n var url = new URL(ref);\n var q = url.searchParams.get('q') || url.searchParams.get('p');\n if (q) {\n terms = q.split(/\\s+/).filter(function(t) { return t.length > 2; });\n }\n }\n \n if (terms.length === 0) return;\n \n var style = document.createElement('style');\n style.textContent = '.userscript-highlight { background: #fbbf24; color: #1a1a2e; padding: 1px 3px; border-radius: 2px; }';\n document.head.appendChild(style);\n \n function highlight(node) {\n if (node.nodeType === 3) { // text node\n var text = node.textContent;\n var found = false;\n terms.forEach(function(term) {\n var regex = new RegExp('(' + term.replace(/[.*+?^${}()|[\\]\\\\]/g, '\\\\') + ')', 'gi');\n if (regex.test(text)) {\n found = true;\n var frag = document.createDocumentFragment();\n var parts = text.split(regex);\n parts.forEach(function(part, i) {\n if (i % 2 === 0) {\n frag.appendChild(document.createTextNode(part));\n } else {\n var span = document.createElement('span');\n span.className = 'userscript-highlight';\n span.textContent = part;\n frag.appendChild(span);\n }\n });\n node.parentNode.replaceChild(frag, node);\n }\n });\n } else if (node.nodeType === 1 && node.childNodes) { // element\n var skipTags = ['SCRIPT', 'STYLE', 'NOSCRIPT', 'TEXTAREA', 'INPUT', 'SELECT'];\n if (!skipTags.includes(node.tagName)) {\n Array.from(node.childNodes).forEach(highlight);\n }\n }\n }\n \n highlight(document.body);\n \n // Re-highlight on dynamic content\n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1 || node.nodeType === 3) highlight(node);\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Highlight Search Terms");
}
} catch(__e) { console.warn('[Userscript:Highlight Search Terms]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Strip utm_, fbclid, gclid, etc. from all links on page\n(function() {\n var trackingParams = ['utm_source', 'utm_medium', 'utm_campaign', 'utm_term', 'utm_content',\n 'fbclid', 'gclid', 'dclid', 'msclkid', 'yclid',\n 'ref', 'ref_src', 'source', 'medium', 'campaign'];\n \n function cleanUrl(url) {\n try {\n var u = new URL(url, window.location.origin);\n var changed = false;\n trackingParams.forEach(function(p) {\n if (u.searchParams.has(p)) {\n u.searchParams.delete(p);\n changed = true;\n }\n });\n return changed ? u.toString() : url;\n } catch (e) {\n return url;\n }\n }\n \n function cleanLinks() {\n document.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n \n cleanLinks();\n \n var observer = new MutationObserver(function(mutations) {\n mutations.forEach(function(m) {\n m.addedNodes.forEach(function(node) {\n if (node.nodeType === 1) {\n if (node.tagName === 'A') cleanLinks();\n node.querySelectorAll('a[href]').forEach(function(a) {\n var clean = cleanUrl(a.href);\n if (clean !== a.href) a.href = clean;\n });\n }\n });\n });\n });\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "Remove Tracking Parameters from Links");
}
} catch(__e) { console.warn('[Userscript:Remove Tracking Parameters from Links]', __e); }
})();
(function(){
try {
var __m = "youtube.com";
var __re = new RegExp('^' + "youtube\\.com" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Auto-enable theater mode on YouTube\n(function() {\n function tryTheater() {\n var btn = document.querySelector('button[aria-label=\"Theater mode\"], ytd-player #player button[title=\"Theater mode\"]');\n if (btn && !btn.classList.contains('activated')) {\n btn.click();\n }\n }\n \n // Try immediately\n tryTheater();\n \n // Try after navigation (SPA)\n var lastUrl = location.href;\n setInterval(function() {\n if (location.href !== lastUrl) {\n lastUrl = location.href;\n setTimeout(tryTheater, 500);\n }\n }, 1000);\n \n // Also try on player load\n var observer = new MutationObserver(tryTheater);\n observer.observe(document.body, { childList: true, subtree: true });\n})();", "YouTube Theater Mode Default");
}
} catch(__e) { console.warn('[Userscript:YouTube Theater Mode Default]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages

, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Remove or un-stick sticky/fixed headers that block content\n(function() {\n function unstick() {\n document.querySelectorAll('header, nav, [role=\"banner\"], .header, .navbar, .sticky, .fixed-top, [style*=\"position: fixed\"], [style*=\"position:sticky\"]').forEach(function(el) {\n if (el.style.position === 'fixed' || el.style.position === 'sticky' || \n getComputedStyle(el).position === 'fixed' || getComputedStyle(el).position === 'sticky') {\n el.style.position = 'static';\n el.style.top = 'auto';\n el.style.zIndex = 'auto';\n }\n });\n }\n \n unstick();\n \n var observer = new MutationObserver(unstick);\n observer.observe(document.body, { childList: true, subtree: true, attributes: true, attributeFilter: ['style', 'class'] });\n})();", "Kill Sticky Headers");
}
} catch(__e) { console.warn('[Userscript:Kill Sticky Headers]', __e); }
})();
(function(){
try {
var __m = "*";
var __re = new RegExp('^' + ".*" + '

Skip to content
BranchesTags
Repository files navigation
ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

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This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
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, 'i');
if (__m === '*' || __re.test(location.href)) {
injectUserscript("// Universal Dark Mode - works on any site\n(function() {\n var enabled = true;\n \n function applyDarkMode() {\n if (!enabled) return;\n \n // Create style element if it doesn't exist\n var style = document.getElementById('universal-dark-mode-style');\n if (!style) {\n style = document.createElement('style');\n style.id = 'universal-dark-mode-style';\n document.head.appendChild(style);\n }\n \n // Dark mode CSS - inverts colors but preserves images/video\n style.textContent = '\n /* Invert everything except media */\n html {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #1a1a2e !important;\n }\n \n /* Restore images, videos, iframes, canvas */\n img, video, iframe, canvas, svg, picture, [style*=\"background-image\"] {\n filter: invert(1) hue-rotate(180deg) !important;\n }\n \n /* Preserve specific elements that should not be inverted */\n .no-dark-mode, .no-dark-mode *,\n [data-theme=\"light\"], [data-theme=\"light\"],\n .ace_editor, .ace_editor *,\n .CodeMirror, .CodeMirror *,\n .monaco-editor, .monaco-editor *,\n .markdown-body pre, .markdown-body pre *,\n .highlight, .highlight *,\n pre code, pre code * {\n filter: none !important;\n }\n \n /* Fix common UI elements */\n .modal, .popup, .dropdown-menu, .tooltip, .popover {\n filter: invert(1) hue-rotate(180deg) !important;\n background: #2d2d44 !important;\n border-color: #444 !important;\n }\n \n /* Scrollbars */\n ::-webkit-scrollbar { background: #1a1a2e !important; }\n ::-webkit-scrollbar-thumb { background: #444 !important; }\n ::-webkit-scrollbar-thumb:hover { background: #555 !important; }\n \n /* Selection */\n ::selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ::-moz-selection { background: #4ecdc4 !important; color: #1a1a2e !important; }\n ';\n }\n \n function removeDarkMode() {\n var style = document.getElementById('universal-dark-mode-style');\n if (style) style.remove();\n }\n \n // Toggle with Alt+Shift+D\n document.addEventListener('keydown', function(e) {\n if (e.altKey && e.shiftKey && e.key === 'D') {\n e.preventDefault();\n enabled = !enabled;\n if (enabled) {\n applyDarkMode();\n console.log('[Universal Dark Mode] Enabled');\n } else {\n removeDarkMode();\n console.log('[Universal Dark Mode] Disabled');\n }\n }\n });\n \n // Apply on load\n applyDarkMode();\n \n // Re-apply on dynamic content\n var observer = new MutationObserver(function(mutations) {\n if (enabled && !document.getElementById('universal-dark-mode-style')) {\n applyDarkMode();\n }\n });\n observer.observe(document.head, { childList: true });\n \n console.log('[Universal Dark Mode] Loaded - Press Alt+Shift+D to toggle');\n})();", "Universal Dark Mode");
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} catch(__e) { console.warn('[Userscript:Universal Dark Mode]', __e); }
})();
})();

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ROS AprilTag SLAM
This repo contains a ROS implementation of a real-time landmark SLAM based on AprilTag and GTSAM. We use AprilTag as the front end, which alleviates the challengings in data association. Both CPU and CUDA versions of the AprilTag front end are included. We provide iSAM2 and batch fixed-lag smoother for SLAM and visual Inertia Odometry.
The package is initially built for a ZED2 camera running on Nvidia Jetson Xavier. However, it can be easily adapted for other sensors and other platforms. We have tested this on JetPack 5.0.2 and regular PC with Ubuntu 20.04, ROS Noetic and Nvidia GTX 1080Ti.
Dependency (Must)
Dependency (Highly Recommended)
  • ZED SDK 3.8:
    If ZED SDK is not installed, you will not able to run SLAM that directly interface with ZED SDK. However, you can still run SLAM that subscribes to ROS topics. If you do not have ZED SDK, You will have to to add -DUSE_ZED=OFF flag to the catkin.
  • CUDA 11+:
    If CUDA is not enabled, we will only do SLAM with CPU based CUDA detector. Interface with ZED SDK will be turned off as well. If you do not have CUDA, You will have to to add -DUSE_CUDA=OFF flag to the catkin.
    Note: older JetPack with CUDA 10 should work as well, but we have not tested it.
  • OpenCV 4.6.0 with CUDA support:
Install
First, complete an environment set up on your Ubuntu 20.04 machine like here. This will install
In the last step source set_startup_package we build a ~/StartUp directory similar to below. However, this also includes the Maestro-Controller-ROS repository. To build AprilTagSLAM_ROS on
its own, follow these instructions:
mkdir tagslam_ws
cd tagslam_ws
mkdir src
cd src
git clone https://github.com/SafeRoboticsLab/AprilTagSLAM_ROS.git cd AprilTagSLAM_ROS
git checkout sdk_v4
cd ..
git clone https://github.com/AprilRobotics/apriltag.git
# We need compile cv_bridge from source files to avoid mixing OpenCV versions
git clone https://github.com/ros-perception/vision_opencv.git
cd vision_opencv
git checkout noetic
cd ../..
# build
source /opt/ros/noetic/setup.bash
catkin_make_isolated

Run with ZED SDK
Checkout the settings in config/config.yaml.
source devel_isolated/setup.bash
roslaunch tagslam_ros zed_sdk.launch

About
This repo contains a implementation of realtime SLAM with Apriltag front-end in ROS. The front-end runs on either CPU or CUDA GPUs including Jetson devices.
Resources
Readme
License
Activity
Custom properties
Stars
22 stars
Watchers
2 watching
Forks
1 fork
Report repository
Releases
Packages
Used by
Contributors
Languages