This repository passes values through an assembly line of classes: AprilTagPositionSubscriber, which gets values from our isaac_ros_apriltag ROS node; OdometryPositionSubscriber, which gets values from Avni's odometry publisher in the RoboRIO; Localizer, which performs localization with the streamed values; and finally NewPositionPublisher, which publishes these values to the RoboRIO.
This code doesn't work -- it's still being integrated into the rclpy ROS framework. Once someone gets in functional, they should push the entire $ROS_WS/src/localizer folder. Also, we need to actually finish Localizer with a localization library.
See individual files for more information.