large pose offset with apriltag_ros

[mschweig]

Hi @khughes-bdai ,

I am running apriltag_ros package in addition to the driver (doing a pick & place project). The AprilTags are properly detected, but the pose seems to be highly off. The TF of apriltag_ros is with all cameras different to Spots apriltag detection TFs. I did set the correct apriltag size. As shown in the screenshot, the direction is correct, but the distance is too far.

Any ideas? Wrong camera_info published by the driver? Some other setting I am missing?

[khughes-bdai]

Hmm, this seems like possibly the settings are not configured right for the apriltag_ros node. We have used the camera_info published by the driver for lots of tasks so this should be correct.
This package, right? https://github.com/christianrauch/apriltag_ros

[mschweig]

Thanks for your answer.
Yeah, this package.

[mschweig]

I just did it with isaac_ros_apriltag (https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_apriltag/index.html) and this is working fine. So I assume some wrong configuration of apriltag_ros node. Atm not really an idea where.