polysat_sensor_world

As development continues, sensors will be tested in this world.

To test apriltag detection, first start the simulation. This will load the basic URDF model, not the SDF model with visual plugins.

roslaunch polysat_launch polysat_sensors.launch

To begin detecting images, launch the apriltag_ros continuous detection node:

roslaunch apriltag_ros continuous_detection.launch camera_name:=/camera image_topic:/image_rect

To view the detected pose, run

rostopic echo /tag_detections

which will require that the correct messages have been built and the workspace appropriately sourced.