TagSLAM is a ROS-based package for Simultaneous Localization and Mapping using AprilTag fiducial markers.

The only supported platform is Ubuntu 16.04:

Install GTSAM from the ppa:

sudo apt-add-repository ppa:bernd-pfrommer/gtsam
sudo apt update
sudo apt install gtsam

You may also need the catkin build command:

sudo apt install python-catkin-tools

Now the ROS stuff (this assumes you know your way around ROS packages):

cat catkin_ws
mkdir src
cd src
git clone https://github.com/versatran01/apriltag.git
git clone https://github.com/berndpfrommer/tagslam.git
cd ..
catkin config -DCMAKE_BUILD_TYPE=Release
catkin build

There are some tests/examples in the repo. First start up rviz, visualize the transform tree ("TF"), then run one of the examples, e.g:

roslaunch tagslam example.launch example:=1

Adjust the launch scripts to your liking and remap topics, then run the detector and tagslam:

roslaunch tagslam apritag_detector_node.launch
roslaunch tagslam tagslam.launch

You can also run it afterwards on a bag file. First pre-process the bag (you need to adjust the topics in the launch script below!):

roslaunch tagslam sync_and_detect.launch bag:=bag_with_images.bag

Afterwards you should find a bag with the detections in ~/.ros/ Now run directly off of this bag (see example.launch) for examples.