ar_track_alvar questions

edit

Hi,

I am using ar_track_alvar in ROS Hydro (and Groovy) on Ubuntu 12.04. I have a couple of questions about the package.

1. As I understand and have verified, when using the bundle version, ar_track_alvar provides the pose estimate of the master tag regardless of which tag is visible to the camera. This is definitely helpful, but I was wondering if it would be possible to get the pose estimates of the other tags as well. Consider for example a rectangular box which has two tags on each side (top of the side and bottom of the side) and a tag at the top for a total of 9 tags. If I make the top tag as the master tag, I would like to get the pose estimates of say one of the tags on one of the sides. Is this possible?
2. Although I am able to detect the tags, when I print the ID and the confidence, I get the confidence value to be always zero. The reason I need the confidence is so that could set a confidence threshold and reject those detected tags which have a lower confidence value than the threshold. But this can't be done if the confidence value is always zero. My approach is to do the checking in the code I write. However, is there any parameters (args) that I can set in the launch file for a confidence threshold? If not, am doing something wrong for the confidence to printed always zero?
3. The marker tf names that I can see after running view_frames are ar_maker_0, ar_marker_1 etc. Is it possible to customize these names so that they represent the box that is being tagged? For example, if I had a bundle called cherios, then I would like name on the tf tree to by /cherios. How would I do this?

Any help is appreciated,

Thanks.