Re-localization from April Tags ???

[pgaston]

Due to drift/whatever, we may be inches off where we want to be over the 30 seconds of autonomous. We would like to explore doing re-localization using April Tags.

Options - i.e., looking for the best way to do this...

1. Use a marker. Call a function to read AT. Use that Pose2d our function found to (re)set the current robot location. Problem - I don't think you can do this during a running trajectory sequence. ???
2. Run traj sequence A. Stop. Read AT. Create and build a new trajectory sequence starting from the Pose2D per AT. Great! But takes quite a while to build a trajectory.
3. Other ways?

Thanks!