Hi,

I am using artrackalvar 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, artrackalvar 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 viewframes are armaker0, armarker_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.