fiducial_transform 0.0.0 This package provides a script that transforms 3D position and orientation information from detected fiducial markers to 2D positions in the x-y-plane and orientation expressed as yaw angle (rotation around z axis). In addition, the id of the detected marker is published. spirkelmann MIT catkin roscpp rospy std_msgs message_generation roscpp rospy std_msgs roscpp rospy std_msgs message_runtime