Hi, I'm trying to use the voxl_mpa_to_ros node instead of the voxl_cam_ros node to publish the tracking camera feed. One issue I'm having is that the AprilTag package requires a /camera_info topic to be published with the distortion parameters for the camera. The voxl_cam_ros node publishes the info to the correct topic but it seems the voxl_mpa_to_ros node doesn't.

Has this been coded and I'm missing an optional parameter or flag that I'm supposed to specify? I've tried writing my own node that publishes the /camera_info topic by reading a yaml file but I'm running into other issues with synchronisation, reduced processing power etc. I feel like I'm really missing something simple here since it already seems to have been implemented in the other node.