# Setting up different AprilTag families

Source: https://forum.modalai.com/topic/4830/setting-up-different-apriltag-families
Category: Autonomy: VIO, Mapping and Navigation (https://forum.modalai.com/category/19/autonomy-vio-mapping-and-navigation)
Tags: apriltag
Posted: 2025-10-21 14:14:12 UTC by dvz
Replies: 1 · Views: 2130

## dvz · 2025-10-21 14:14:12 UTC

Hi ModalAI team,

I would like to use different AprilTag families than the old 36h11 family. How much work would it be to run a different family through the modalAI architecture over ROS packages? Ideally, I would like to change the voxl-tag-detector so it can use the custom48h12 family. How would one approach this problem?

Thank you.

## Reply by ApoorvThapliyal · 2025-10-23 17:55:33 UTC

Hey @dvz, thanks for your query

We’re currently in the process of updating the `voxl-tag-detector` to support additional AprilTag families beyond just the `36h11`.

If you’d like to try this yourself in the meantime, the following line in `main.cpp` creates the detector for the `36h11` family: [here](https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector/-/blob/master/server/main.cpp?ref_type=heads#L615)

To add support for the `tagCustom48h12` family, you can:

Add the include:
```
#include <tagCustom48h12.h>
```

Replace the detector creation line with:
```
tf = tagCustom48h12_create();
```

Please note that this change may affect the current functionality, you’ll likely need to make additional modifications in `main.cpp` to ensure it builds and runs correctly.
As mentioned, we’re actively working on making this a much smoother process in the future. But if you’d like to get started now, the above steps should point you in the right direction.