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This is exactly the behaviour I would expect. Your QR code will be moving relative to your camera and because you have a static transform between /map and your camera, therefore your QR code will also be moving relative to the /map frame.
Are you expecting the QR code to be static in rviz and the camera frame to move when you view this? To do this you'll need to broadcast a dynamic TF between the QR code and the camera, if I remember correctly visp doesn't do this automatically but you could make a simple node that listens to the visp pose estimates and then publishes then as a TF.
Hope this helps.
| | 2 | No.2 Revision |
This is exactly the behaviour I would expect. Your QR code will be moving relative to your camera and because you have a static transform between /map and your camera, therefore your QR code will also be moving relative to the /map frame.
Are you expecting the QR code to be static in rviz and the camera frame to move when you view this? To do this you'll need to broadcast a dynamic TF between the QR code and the camera, if I remember correctly visp doesn't do this automatically but you could make a simple node that listens to the visp pose estimates and then publishes then as a TF.
Hope this helps.
Update: If you're not forced to use visp then I recommend trying the ar_track_alvar package instead, this does a very similar job to visp except it can track multiple targets and importantly for you publishes TF frames for each ar tag that it detects.
If you have to work with visp then you'll have to write a simple node that subscribes to the pose from visp and then publishes this pose as a TF frame. I recommend looking at the publisher and subscriber tutorial for the first part and the tf broadcaster tutorial for the second part, these are available for python and c++ so pick whichever language you're most comfortable with.
When you have this setup and running and you're viewing everything in rviz you can set the the 'fixed frame' drop down under 'global options' to that of the AR tag/QR code, then you will see the TF frame axes for the camera moving relative to the fixed QR code.
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