ar_track_alvar output frame issue
Hi guys i need your help. I try to use ar_track_alvar to detect an ar_tag on gazebo sim using a simulated camera.
Here there is my urdf file of the robot:
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robot">
<xacro:property name="M_PI" value="3.1415926535897931" />
<link name="camera_link">
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.2"/>
</geometry>
</collision>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.2 0.2 0.2"/>
</geometry>
<material name="grey">
<color rgba="0.2 0.2 0.2 1.0"/>
</material>
</visual>
<inertial>
<mass value="0.001" />
<origin xyz="0 0 0" rpy="0 0 0" />
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
</link>
<!-- camera -->
<gazebo reference="camera_link">
<sensor type="camera" name="camera1">
<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>
<!-- Noise is sampled independently per pixel on each frame.
That pixel's noise value is added to each of its color
channels, which at that point lie in the range [0,1]. -->
<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>rrbot/camera1</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</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>
</robot>
And here my launch file
<?xml version="1.0" ?>
<launch>
<arg name="x_robot" default="0.0"/>
<arg name="y_robot" default="0.0"/>
<arg name="z_robot" default="0.0"/>
<arg name="tf_prefix" default="$(optenv ROS_NAMESPACE)"/>
<arg name="marker_size" default="30.0" />
<arg name="max_new_marker_error" default="0.08" />
<arg name="max_track_error" default="0.2" />
<arg name="cam_image_topic" default="/robot/rrbot/camera1/image_raw" />
<arg name="cam_info_topic" default="/robot/rrbot/camera1/camera_info" />
<arg name="output_frame" default="/camera_link" />
<!-- Init Gazebo -->
<include file="$(find gazebo_ros)/launch/empty_world.launch"/>
<group ns="robot">
<!-- Include the robot.urdf file -->
<param name="robot_description" command="$(find xacro)/xacro.py $(find robot_simulation)/urdf/robot.urdf.xacro"/>
<!-- Spawn the robot into gazebo -->
<node name="spawn_robot" pkg="gazebo_ros" type="spawn_model"
args="-param robot_description
-urdf
-x $(arg x_robot)
-y $(arg y_robot)
-z $(arg z_robot)
-model my_robot"
respawn="false" output="screen" />
</group>
<group ns="tag">
<!-- Include the robot.urdf file -->
<param name="ar_tag_gazebo" command="$(find xacro)/xacro.py $(find robot_simulation)/urdf/ar_tag.urdf.xacro"/>
<!-- Spawn the robot into gazebo -->
<node name="spawn_tag" pkg="gazebo_ros" type="spawn_model"
args="-param ar_tag_gazebo ...
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