tagslam

Handles synchronized data from multiple cameras with consistent timestamp alignment, as shown in the sync_and_detect component that processes images across cameras and emits synchronized tag messages.

Supports both online live operation as a ROS2 node and offline processing from rosbag files, allowing for real-time deployment and post-analysis, as detailed in the usage instructions.

Incorporates odometry messages to improve localization accuracy, with sync_and_detect dropping non-matching odometry and aligning timestamps, enhancing robustness in sensor-fusion setups.

Relies on AprilTag fiducial markers for reliable detection and tracking, providing accurate visual landmarks that are critical for SLAM in controlled environments.