Follow a fiducial tag
=====================

The warehouse forklift has a 0.40 m ``DICT_4X4_50`` marker (ID 0) on its rear body face. The example uses a forward-facing camera and camera info to solve the tag pose, then sends short velocity leases to keep the robot base 2 m behind the tag plane.

Start warehouse traffic in the simulator viewer after placing the robot behind the forklift with the tag in view.

.. note::

    This works best with a fast omnidirectional robot: the follower strafes toward
    the standoff point while turning to face the tag. This is a simple visual servo
    example with no mapping or obstacle avoidance.
    The forklift can reach 0.5 m/s, so slower robots may fall behind.

.. tab-set::
    :sync-group: sdk-language

    .. tab-item:: Python
        :sync: python

        .. literalinclude:: scripts/vision-follow-fiducial.py
           :language: python

    .. tab-item:: TypeScript
        :sync: typescript

        .. literalinclude:: scripts/vision-follow-fiducial.ts
           :language: typescript