I am trying to create a docking algorithm on simulation and in order to do so I am using vispautotracker package.

I can detect a QR code without any problem but the pose of the QR code on the map is wrong. When I add Pose on rviz and choose the topic /vispautotracker/objectposition, the Pose displays always on the same spot and this pose changes only if I change trackerrefframe value on node.cpp file (/vispautotracker/src/node.cpp) to some other frame like "odom" or "cameralink".

Then the pose is stuck on those frames.

How could I correct this pose (type is PoseStamped) value ?