April tag 2 ROS pose detection

edit

Hi,

I am using the Apriltag2_ros package to detect the apriltags in my scene.

Everything works well and I get really good pose detections. The problem is that its too slow, I have a lag when I view it on rviz.

I checked the origin source code Apriltag too and that seems to run with a lag too.

I didn't know where to ask this question so started here.

Thanks in advance for the help.

My Launch file (continuous_detection.launch)

<launch>
  <arg name="launch_prefix" default="" /> 
  <arg name="node_namespace" default="apriltags2_ros_continuous_node" />
  <arg name="camera_name" default="camera" />
  <arg name="camera_frame" default="camera" />
  <arg name="image_topic" default="image_rect_color" />

  <!-- Set parameters -->
  <rosparam command="load" file="$(find apriltags2_ros)/config/settings.yaml" ns="$(arg node_namespace)" />
  <rosparam command="load" file="$(find apriltags2_ros)/config/tags.yaml" ns="$(arg node_namespace)" />

  <node pkg="apriltags2_ros" type="apriltags2_ros_continuous_node" name="$(arg node_namespace)" clear_params="true" output="screen" launch-prefix="$(arg launch_prefix)" >
    <remap from="image_rect" to="$(arg camera_name)/$(arg image_topic)" />
    <remap from="camera_info" to="$(arg camera_name)/camera_info" />

    <param name="camera_frame" type="str" value="$(arg camera_frame)" />
    <param name="publish_tag_detections_image" type="bool" value="true" />      
  </node>
</launch>

Tag Setting:

   standalone_tags:
      [
       {id: 0, size: 0.17, name: YOLO}
      ]