April tag detection in Gazebo
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 image_raw comes from gazebo and so does camera info. (The only two thing required to change in launch files for April tags.) The /tag_detection 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!
