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[amquake]

Currently, if users want to use custom AprilTag Field Layouts they can upload them to the UI for on-coprocessor multitag estimation.

There is no way to determine robot-side what tag layout is being used by a camera, nor publish a layout for the camera to use. This would make working with custom tag layouts easier, and enable custom layouts in simulation without needing special handling.

[mcm001]

I'm scared of dealing with synchronizing state between a roborio and coprocessors when neither is guaranteed to be on and connected or even running compatible versions of things at any given time lol. That's most of why this feature exists in code but purportedly doesn't actually work. How can we work around this constraint?