Hello,

I made a basic script that takes apriltagros /tagdetections topic and republishes it as odometry data. The python script is as follows:

#!/usr/bin/env python
import roslib;
import rospy
from apriltag_ros.msg import AprilTagDetectionArray
from nav_msgs.msg import Odometry

class OdomApril():
def __init__(self):
    rospy.init_node('odom_april', anonymous=False)
    self.april_pub = rospy.Publisher('/odom_april', Odometry, queue_size=128)
    rospy.wait_for_message('/tag_detections', AprilTagDetectionArray)
    rospy.Subscriber('/tag_detections', AprilTagDetectionArray, self.pub_april_odom)
    rospy.loginfo("Publishing april odometry on /odom_april")

def pub_april_odom(self, msg):
    odom = Odometry()
    if(msg.detections):
      odom.header = msg.header
      odom.child_frame_id = 'base_footprint'
  odom.pose = msg.detections[0].pose.pose
      self.april_pub.publish(odom)

if __name__ == '__main__':
try:
    OdomApril()
    rospy.spin()
except:
    pass

I am running a robot, with robotposeekf, imu, and odometry in the raspberry pi on board the robot. However I am running apriltag_ros software in a laptop, attached to a ceiling mounted camera.

my purpose is to visualize both the robots odomety, and the apriltag based odometry in the same rviz.

Could it be possible for a python program, to subscribe to one ros master, and then publish to another ros master?

Best regards, C.A.