# April tag detection position on Starling

Source: https://forum.modalai.com/topic/3238/april-tag-detection-position-on-starling
Category: General Questions (https://forum.modalai.com/category/2/general-questions)
Posted: 2024-03-19 23:16:32 UTC by Darshit Desai
Replies: 1 · Views: 647

## Darshit Desai · 2024-03-19 23:16:32 UTC

Hi, How do I get the voxl_mpa_to_ros node to stream the 6-DOF pose of the april tag, currently in my starling when I run the tag detector service and the voxl_mpa_to_ros node it only streams the /tracking_tag_overlay topic of type sensor_msgs/Image. I can see the position of the tag if I do voxl-inspect-tags

## Reply by Moderator (ModalAI staff) · 2024-03-19 23:29:03 UTC

@Darshit-Desai Hi Darshit, you will need to modify [the code](https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros/-/tree/master/catkin_ws/src/src/interfaces?ref_type=heads) to support what you would like to achieve. If you'd like to mainline, we accept merge requests