Pick and Place Using AprilTag Markers
AprilTags are a type of fiducial marker widely used in applications of robotics.
They enable the use of a single RGB camera to detect 3D poses by using high-contrast, easy-to-detect, markers of known size and unique identifiers.
In this guide, you will learn how to use MoveIt Studio to detect AprilTags and use the resulting poses for a simple pick and place example.
For this example, we will use a Universal Robots UR5e simulated in Gazebo. To launch this configuration, run:
./moveit_studio run -c picknik_ur_gazebo_config
From the default starting position of the robot arm, you should see the following AprilTags from the wrist-mounted camera feed.
Picking With AprilTag Offsets Example
From here, you can run the
Pick April Tag Labeled Object Objective that uses the pose the previous Objective wrote to a yaml file.
If you know the offset that you would like to apply to an AprilTag you can always write your own yaml file containing the offset and use it with the