ar_pose rotate transform without image rotation

edit

Thanks for your response, but the camera image obtained at the red axis. Rotating the axis so that the blue axis is in line with the arm means that the camera is pointing downwards like this: https://dl.dropboxusercontent.com/u/5812499/Screenshot%20from%202013-05-09%2016%3A40%3A11.png

actually that image only confirms that the blue axis is pointing in the direction of your field of view. If it was the red axis, you would see the grid as squares, but instead you see them in perspective. Also you can see the axis just in front of your camera in the image (/arm_shoulder_pivot).

just rotate your camera frame once more, maintaining the direction of the blue axis, until you can see your floor grid in the base of the camera image (in your camera window). I think the green axis must point downwards. after that, check if the marker position displays correctly.

Thanks for your help. But the camera then points sideways. https://dl.dropboxusercontent.com/u/5812499/Screenshot%20from%202013-05-10%2017%3A01%3A00_rotation.png

ok, now you got your camera rigtht (by the position of the floor and by the arm's joints in your cam image)! I think the problem now is with your Rviz object. Maybe you are creating your Rviz object with the wrong orientation? Check your code when you create the Rviz marker orientation.

..Got it thanx

How did you solve it then?

sorry @davinci, do you mind adding the images from the comments here to the question part (upload to answers.ros.org)? in this way the question would become more informative for future reference and we would not depend on your dropbox. thanks!