Re: Fixed frame pose MPA to ROS
Similar to the various above threads, I am trying to figure out if there already exists some way of getting the detected April tag's offset relative the the MAV's local frame (for reference I'm using the frame that /mavros/local_position/pose provides). I'm unsure of how I can achieve this aside from manually piping and shifting through the data outputted by the voxl-inspect-tags command and converting into a ROS Pose. Do let me know if there already exists a method for accomplishing this or if there would be an easier way to retrieve this offset into a ROS pose.
For reference I am using a Starling with VOXL2 and system image: 1.7.6
My goal is to visualize the position of the drone relative to the detected April tag for accurate position targeting.