April Tag Tools

This project contains a collection of simple meshes and respective textures for each of the tags in the 36h11 family.

To add to an urdf, replace the following parent link with the desired link. You may also alter the size by scaling the mesh. The base size of the tag is 1mx1m and the example 0.0762m is equivalent to a tag 3inx3in:

  <joint name="apriltag_joint" type="fixed">
    <parent link="desired_parent_link"/>
    <child link="apriltag_link"/>
    <origin xyz="0 0 0" rpy="0 0 0"/>
  </joint>

  <link name="apriltag_link">
    <visual>
      <geometry>
        <mesh filename="package://april_tag_tools/36h11/tag36_11_00026.dae" scale="0.0762 0.0762 0.0762"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://april_tag_tools/36h11/tag36_11_00026.dae" scale="0.0762 0.0762 0.0762"/>
      </geometry>
    </collision>
  </link>

Citation

This project falls under the purview of the iMETRO project. If you use this in your own work, please cite the following paper:

@INPROCEEDINGS{imetro-facility-2025,
  author={Dunkelberger, Nathan and Sheetz, Emily and Rainen, Connor and Graf, Jodi and Hart, Nikki and Zemler, Emma and Azimi, Shaun},
  booktitle={2025 22nd International Conference on Ubiquitous Robots (UR)},
  title={Design of the iMETRO Facility: A Platform for Intravehicular Space Robotics Research},
  year={2025},
  volume={},
  number={},
  pages={390-397},
  keywords={NASA;Moon;Seals;Maintenance engineering;Maintenance;Robots;Standards;Open source software;Testing;Logistics},
  doi={10.1109/UR65550.2025.11077983}}