Hi,

I have been experimenting in using Gazebo and trying to mount the camera on top of the robot to view April tags on the ceiling. The problem that I have is that the April tag pose estimate is really far off and I have no idea what is causing it since the imageraw comes from gazebo and so does camera info. (The only two thing required to change in launch files for April tags.) The /tagdetection on the image is accurate as I can see the outline (the box drawing) from Rviz. Would be greatly appriciated if someone would enlighten me of this issue.

Camera from gazebo (Sorry I do not know how to format this to the actual one I posted)

<!-- camera --> <gazebo reference="raspberry_pi_camera"> <sensor type="camera" name="camera"> <visualize>true</visualize> <update_rate>30.0</update_rate> <camera name="head"> <horizontal_fov>1.3962634</horizontal_fov> <image> <width>800</width> <height>800</height> <format>R8G8B8</format> </image> <clip> <near>0.02</near> <far>300</far> </clip> <noise> <type>gaussian</type> <mean>0.0</mean> <stddev>0.007</stddev> </noise> </camera> <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <alwaysOn>true</alwaysOn> <updateRate>0.0</updateRate> <cameraName>raspberry_pi_camera</cameraName> <imageTopicName>rgb/image_raw</imageTopicName> <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName> <frameName>raspberry_pi_camera</frameName> <hackBaseline>0.07</hackBaseline> <distortionK1>0.0</distortionK1> <distortionK2>0.0</distortionK2> <distortionK3>0.0</distortionK3> <distortionT1>0.0</distortionT1> <distortionT2>0.0</distortionT2> </plugin> </sensor> </gazebo>

Thanks!