message: Explicitly use parent frame id for tags
diff: @@ -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));
  }
  }
  }
  