Incorrect camera pose with respect to marker

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Hi @bpinaya, Thanks for your response !

Yes that is the repo I am referring to and changing the ref frame unfortunately doesnt change the resulting tf problem.

The launch file I used is in this link

Still not sure why the tf is showing wrong

If you don't provide code or more info it's really hard to figure out what's wrong. I've used that package with great success

@bpinaya I had put a link to the launch file in my previous comment. Are you not able to open it ?

If so, here's the launch file :

<launch>
<arg name="camera"          default="1"/>
<arg name="markerId"        default="350"/>
<arg name="markerSize"      default="0.15"/>    <!-- in m -->
<arg name="eye"             default="left"/>
<arg name="marker_frame"    default="aruco_marker_frame$(arg camera)"/>
<arg name="ref_frame"       default=""/>  <!-- leave empty and the pose will be published wrt param parent_name -->
<arg name="corner_refinement" default="LINES" /> <!-- NONE, HARRIS, LINES, SUBPIX -->...

...

<group ns="$(arg camera)">
    <node pkg="aruco_ros" type="single" name="aruco_single">
        <remap from="/camera_info" to="/cam_$(arg camera)/color/camera_info" />
        <remap from="/image" to="/cam_$(arg camera)/color/image_raw" />
        <param name="image_is_rectified" value="True"/>
        <param name="marker_size"        value="$(arg markerSize)"/>
        <param name="marker_id"          value="$(arg markerId)"/>
        <param name="reference_frame"    value="$(arg ref_frame)"/>   <!-- frame in which the marker pose will be refered -->
        <param name="camera_frame"       value="cam_$(arg camera)_color_optical_frame)"/>
        <param name="marker_frame"       value="$(arg marker_frame)" />
        <param name="corner_refinement"  value="$(arg corner_refinement)" />
    </node>
</group>

</launch>

P.S. Rest of the code in the package remains unchanged.

Chance the reference_frame to a one frame defined on xyz on the axis you want. Don't leave it empty (if you see the comments it says that will calculate it respect the parent frame)

I am getting also wrong pose using with realsense . have you found out what is the problem? I am using camera_frame = camera_color_optical_frame, but what reference_frame should I defined for realsense? also what is for eye = left?