1. Download the ros camera driver - usb_cam ($git clone HTTP:/... )
GITHUB:https://github.com/ros-drivers/usb_cam
2. Download package - calibration based on ilf method ros vision camera_calibration
Making: https://github.com/ros-perception/image_pipeline.git
wiki:http://wiki.ros.org/camera_calibration
3. Download Apriltag ros feature pack - apriltags_ros
GitHub:https://github.com/AprilRobotics/apriltag_ros
Tutorial: http://wiki.ros.org/apriltag_ros/Tutorials/Bundle%20calibration
4. The camera driver download and calibration
1), run the camera driver
$CD
$CD catkin_ws/SRC/usb - CAM/launch
$roslaunch usb_cam - test. Launch

Reference data: https://blog.csdn.net/weixin_43331257/article/details/82932904
5. Apriltags operation and method of use
Reference data: https://blog.csdn.net/weixin_43331257/article/details/83271761? Utm_medium=distribute. Pc_relevant. None - task - blog - BlogCommendFromMachineLearnPai2-1. Nonecase& Depth_1 - utm_source=distribute. Pc_relevant. None - task - blog - BlogCommendFromMachineLearnPai2-1. Nonecase