Apriltag landing fixed frame ROS interface

[mkwan]

Re: How can I see the apriltag offset in ROS

Hello, I encountered some unexpected behavior when using Apriltag Relocalization to try to land with an offboard command like this.

I'd like to be able to parse current location data so I can add safety checks to my offboard code. However, voxl-mpa-to-ros doesn't seem to output the fixed frame tf data.

It seems like there isn't an interface for the pose_vel_6dof_t type such as /run/mpa/vvpx4_body_wrt_fixed or /run/mpa/vvpx4_body_wrt_local: interface_manager , interfaces

I'm running voxl-suite: 0.8.1

Is there a way I can interface with the fixed frame tf so that I can do Apriltag landing with some safety checks?