We are using the limelight this year to estimate the robots position (along with odometry) particularly in autonomous. I know the botpose function returns a pose2d in meters and the measurement of fieldmap elements is online, yet I am left confused as some of the apriltag values on said online field measurements (https://firstfrc.blob.core.windows.net/frc2024/FieldAssets/2024FieldDrawings.pdf) have X values in the negative, such as ID 7 and 8. I am basing the field coordinate system on 0,0 being on the blue side wall (see Coordinate System — FIRST Robotics Competition documentation).
What I planned on doing was converting the the measurements from the field map measurements to meters and providing them as a pose2d for path creation but upon further inspection I fear that may be inaccurate to a significantly large degree.
Also does the limelight 2024 apriltag map follow the coordinate system as mentioned above? I would check myself but I am at home without access to a limelight and I am struggling to decipher the .fmap file provided on the limelight downloads page.
Thanks