From e0c58ebe35e3cbb2f6a2087088fabc3201c6821a Mon Sep 17 00:00:00 2001
From: matlabbe <matlabbe@gmail.com>
Date: Mon, 10 Dec 2018 20:22:02 -0500
Subject: [PATCH] Explicitly use parent frame id for tags

---
 src/CoreWrapper.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index dd64ac8a..61a60775 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -2177,7 +2177,9 @@ void CoreWrapper::tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetec
 		{
 			if(tagDetections.detections[i].id.size() >= 1)
 			{
-				uInsert(tags_, std::make_pair(tagDetections.detections[i].id[0], tagDetections.detections[i].pose));
+				geometry_msgs::PoseWithCovarianceStamped p = tagDetections.detections[i].pose;
+				p.header.frame_id = tagDetections.header.frame_id; // make sure we pass frame_id of parent
+				uInsert(tags_, std::make_pair(tagDetections.detections[i].id[0], p));
 			}
 		}
 	}