apriltag_ros

Publishes directly to the standard `/tf` topic and uses ROS 2 image transport, making it easy to integrate into existing ROS 2 perception pipelines. Evidence: subscriptions to `image_rect` and `camera_info`, with output on `/tf` and `detections` topics.

Allows fine-tuning of detection parameters like threads, decimation, and blur via YAML files, enabling optimization for different environments. README shows parameters such as `detector.threads` and `decimate` with default values.

Supports publishing transforms only for specific tag IDs with customizable frame names and sizes, reducing unnecessary data flow. Configuration includes `tag.ids`, `tag.frames`, and `tag.sizes` lists that must match in length.

Provides a composable node for intra-process communication, minimizing data copies and improving performance in integrated systems. Example launch file demonstrates `use_intra_process_comms` with other nodes like `camera_ros`.