Precision landing with mavros and companion computer

Hi all.
im trying to preform preciion landing with arducopter and mavros.
i am using a ros node call aruco_detect for pose estemation.
im using the mavros landing target plugin for the precision landing.

when sending the message to the drone, it switches into land mode but just descends vertically without any correction. i tried adding a rangefinder and still the same behavior.

if anyone can help me that will be much appreciated.

I suggest you look at @anbello blogs and posts