Hi,

I'm also interested in accessing this data, I noticed the voxl-inspect-tags code manages to access it but I'm not sure what is the proper approach to send it through MAVROS/Mavlink to an external flight controller. I tried the following things:

• adding the libraries from voxl-inspect-tags that open the pipe associated with tags to a CMakeLists file in a ROS package, though it doesn't compile with an error message stating they're incompatible when running catkin_make

• reading the "/tracking" ROS msg from within the kinetic docker and then:
  (1) use a standard ROS package for AprilTag detection, doesn't work as it requires catkin build which fails.
  (2) catkin_make a ROS package for AprilTag detection, but I didn't have any luck with compiling OpenCV in the docker.

My ultimate goal would be to send this data to PX4 via UART for precision landing but so far I'm a bit lost and would truly appreciate an opinion on this. Would it be simpler to copy the process from voxl-inspect-tags and use mavlink directly to send it to the separate flight controller? If so how would one add mavlink messaging capabilities to the .c code? Or am I way off?