Apriltag Localization

[manglemix]

What must be done
April Tags are fancy symbols that can help a camera determine its position and orientation in space. This technology is open-source and pretty accurate, so we plan to have a tag seated on the collection bin so that the robot can align itself before dumping. Within the apriltag branch, I have added an apriltag_ros package which has a node that will do exactly what we want. We just need to start up a realsense2 node that can connect to our camera, and connect its image message to the apriltag node. The published data from apriltag may also need to be parsed, so that it represents the orientation of our robot relative to the tag, and not the other way around. We can then feed this data to Navigation2 to contribute to our pathfinding

Existing 3rd party solutions
I have already included the necessary packages as git submodules: apriltag_ros and apriltag_msgs

Existing internal solutions
We have attempted this in usr_ws_2021, but we never got very far with it. I would encourage you guys to just refer to the code we have here.

Quirks or Specifics
This is another one of those tasks where you need actual hardware to test it. However, there is plenty of code to write before meetings, and plenty to read about. Do not worry if the code is wrong, because it is in a separate branch and I only review when you are ready

[manglemix]

Very pleased to say that I have apriltag detection set up now after loads of trial and error. However, this is just detection, I have not yet figured out how to get transformations from apriltags