updated demo_find_object.launch with save_objects_as_landmarks argument. Added script objects_to_tags.py. Scripts are now installed in binaries. Updated tag conversion to use frame_id/stamp included in detection array instead of parent if set.

launch/demo/demo_find_object.launch

@@ -6,6 +6,7 @@
   <arg name="rtabmapviz" default="false" /> 
   <arg name="save_objects" default="false"/>
   <arg name="localization" default="false"/>
+  <arg name="save_objects_as_landmarks" default="false"/> <!-- apriltag_ros package should be installed and rtabmap_ros built with it -->
   <arg     if="$(arg localization)" name="rtabmap_args" default=""/>
   <arg unless="$(arg localization)" name="rtabmap_args" default="--delete_db_on_start"/>
 
@@ -32,6 +33,8 @@
       <param name="depth/image_transport" type="string" value="compressedDepth"/>
 	
 	  <param name="queue_size" type="int" value="10"/>
+	  <param name="landmark_linear_variance" type="double" value="0.1"/>
+	  <param name="landmark_angular_variance" type="double" value="0.5"/>
 	
 	  <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
 	  <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
@@ -113,5 +116,11 @@
     <remap from="mapData" to="/rtabmap/mapData"/>
     <param name="frame_id" value="base_footprint"/>
   </node>
+  
+  <!-- Convert objects to tags -->
+  <node if="$(arg save_objects_as_landmarks)" name="objects_to_tags" pkg="rtabmap_ros" type="objects_to_tags.py" output="screen">
+    <remap from="tag_detections" to="/rtabmap/tag_detections"/>
+    <param name="distance_max" value="2.0"/>
+  </node>
 
 </launch>