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add tag_topic and image_tag_topic parameters #15

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Merged
berndpfrommer merged 1 commit into from
Aug 21, 2025
Merged

add tag_topic and image_tag_topic parameters #15

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2 changes: 2 additions & 0 deletions apriltag_tools/README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,8 @@ This node runs an apriltag detector on a bag with images and produces an output
- Parameters:
- ``in_bag``: path of input bag
- ``image_topic``: name of image topic on which to run the AprilTag detector
- ``image_tag_topic``: output topic for images with detected AprilTags shown
- ``tag_topic``: output topic for detected tags
- ``out_bag``: path of output bag

Example:
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13 changes: 8 additions & 5 deletions apriltag_tools/src/detect_from_bag.cpp
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Expand Up @@ -56,6 +56,10 @@ int main(int argc, char ** argv)
auto dummy_node = std::make_shared<rclcpp::Node>("dummy_node");
const std::string image_topic =
dummy_node->declare_parameter<std::string>("image_topic", "");
const std::string image_tag_topic =
dummy_node->declare_parameter<std::string>("image_tag_topic", "image_tags");
const std::string tag_topic =
dummy_node->declare_parameter<std::string>("tag_topic", "tags");
if (image_topic.empty()) {
RCLCPP_ERROR(get_logger(), "must specify image_topic parameter!");
rclcpp::shutdown();
Expand All @@ -77,15 +81,14 @@ int main(int argc, char ** argv)
std::make_shared<apriltag_detector::DetectorComponent>(detector_options);

exec.add_node(detector_node);

const std::vector<std::string> draw_remap = {
"--ros-args",
"--remap",
"image:=" + image_topic,
"--remap",
"tags:=" + image_topic + "/tags",
"tags:=" + image_topic + "/" + tag_topic,
"--remap",
"image_tags:=" + image_topic + "/image_tags"};
"image_tags:=" + image_topic + "/" + image_tag_topic};

rclcpp::NodeOptions draw_options;
draw_options.arguments(draw_remap);
Expand Down Expand Up @@ -117,8 +120,8 @@ int main(int argc, char ** argv)
const auto topic_set = player_node->getTopics();
std::vector<std::string> topics;
std::copy(topic_set.begin(), topic_set.end(), std::back_inserter(topics));
topics.push_back(image_topic + "/tags");
topics.push_back(image_topic + "/image_tags");
topics.push_back(image_topic + "/" + tag_topic);
topics.push_back(image_topic + "/" + image_tag_topic);

const std::string out_uri =
detector_node->get_parameter_or("out_bag", std::string());
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