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Your apriltags messages are in the apriltags frame (see the frame_id). Have you provided a transform from apriltags to odom? What is the apriltags frame? Is it relative to the camera? If the filter can't transform the data, it will ignore it. Also, the filter will adjust the measurement covariances to some small epsilon, but you should fill those out.

The set_pose service is not meant to be used for fusion. It's just a way to reset the filter to a specific state.