On section 9.1.3.3, after launching the arm initialization routine, they use this command line to launch the tags ($ openmanipulatorarmarkers arpose.launch cameramodel:=raspicam usermarkersize:=3.0) It should be: $ roslaunch openmanipulatorarmarkers arpose.launch cameramodel:=realsensed435 usermarker_size:=3.0. But even this will not work as the RVIZ is coded for a rpi camera? On a desktop I dont think so. (Note. It is fixed now thank you)