diff --git a/launch/rtabmap.launch b/launch/rtabmap.launch
index dd20f49b..63c79bc2 100644
--- a/launch/rtabmap.launch
+++ b/launch/rtabmap.launch
@@ -101,6 +101,8 @@
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diff --git a/launch/tests/tag_bundle1.png b/launch/tests/tag_bundle1.png
new file mode 100644
index 00000000..dc781a40
Binary files /dev/null and b/launch/tests/tag_bundle1.png differ
diff --git a/launch/tests/tag_settings.yaml b/launch/tests/tag_settings.yaml
new file mode 100644
index 00000000..2424a151
--- /dev/null
+++ b/launch/tests/tag_settings.yaml
@@ -0,0 +1,14 @@
+# AprilTags 2 code parameters
+# Find descriptions in apriltags2/include/apriltag.h:struct apriltag_detector
+# apriltags2/include/apriltag.h:struct apriltag_family
+tag_family: 'tag36h11' # options: tag36h11, tag36h10, tag25h9, tag25h7, tag16h5
+tag_border: 1 # default: 1
+tag_threads: 2 # default: 2
+tag_decimate: 1.0 # default: 1.0
+tag_blur: 0.0 # default: 0.0
+tag_refine_edges: 1 # default: 1
+tag_refine_decode: 0 # default: 0
+tag_refine_pose: 0 # default: 0
+tag_debug: 0 # default: 0
+# Other parameters
+publish_tf: true # default: false
diff --git a/launch/tests/tags.yaml b/launch/tests/tags.yaml
new file mode 100644
index 00000000..e9acaa8e
--- /dev/null
+++ b/launch/tests/tags.yaml
@@ -0,0 +1,65 @@
+# # Definitions of tags to detect
+#
+# ## General remarks
+#
+# - All length in meters
+# - Ellipsis (...) signifies that the previous element can be repeated multiple times.
+#
+# ## Standalone tag definitions
+# ### Remarks
+#
+# - name is optional
+#
+# ### Syntax
+#
+# standalone_tags:
+# [
+# {id: ID, size: SIZE, name: NAME},
+# ...
+# ]
+standalone_tags:
+ [
+ ]
+# ## Tag bundle definitions
+# ### Remarks
+#
+# - name is optional
+# - x, y, z have default values of 0 thus they are optional
+# - qw has default value of 1 and qx, qy, qz have default values of 0 thus they are optional
+#
+# ### Syntax
+#
+# tag_bundles:
+# [
+# {
+# name: 'CUSTOM_BUNDLE_NAME',
+# layout:
+# [
+# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
+# ...
+# ]
+# },
+# ...
+# ]
+tag_bundles:
+ [
+ {
+ name: 'tag_bundle1',
+ layout:
+ [
+ # pixel = 180mm/30 = 6mm
+ {id: 1, size: 0.0480, x: 0.0000, y: 0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 2, size: 0.0480, x: 0.0600, y: 0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 3, size: 0.0480, x: 0.1200, y: 0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 25, size: 0.0480, x: 0.0000, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 26, size: 0.0480, x: 0.0600, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 27, size: 0.0480, x: 0.1200, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 49, size: 0.0480, x: 0.0000, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 50, size: 0.0480, x: 0.0600, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 51, size: 0.0480, x: 0.1200, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 73, size: 0.0480, x: 0.0000, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 74, size: 0.0480, x: 0.0600, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ {id: 75, size: 0.0480, x: 0.1200, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+ ]
+ },
+ ]
diff --git a/launch/tests/test_apriltags2.launch b/launch/tests/test_apriltags2.launch
new file mode 100644
index 00000000..b15e76f1
--- /dev/null
+++ b/launch/tests/test_apriltags2.launch
@@ -0,0 +1,26 @@
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