Missing data on published Detection message

[andresgalaviz]

Hello,

I've managed to get this building and running in our application. It's pretty cool to see this running on the GPU :)

One thing I have noticed is that not all contents of the detection message are filled up. An echo of the detection shows this:

---
header:
  stamp:
    sec: 1618512737
    nanosec: 721473880
  frame_id: camera_front_color_optical_frame
detections:
- family: 36h11
  id: 28
  hamming: 0
  goodness: 0.0
  decision_margin: 0.0
  centre:
    x: 0.0
    y: 0.0
  corners:
  - x: 286.0
    y: 7.0
  - x: 359.0
    y: 13.0
  - x: 353.0
    y: 87.0
  - x: 282.0
    y: 82.0
  homography: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
---

Upon looking at the Node code it does seem that the assignment of the data is missing and so it defaults to 0

[hemalshahNV]

Yes, this is true. I borrowed the message from an existing AprilTags ROS2 package and kept the same format for easy integration, but several of the fields are not applicable. If we abandon the message schema for our own, this won't be a problem anymore.

[hemalshahNV]

#13 should resolve this