Frames differs slightly in a gazebo simulation

AprilRobotics / apriltag_ros

A ROS wrapper of the AprilTag 3 visual fiducial detector

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Frames differs slightly in a gazebo simulation #90

Closed roboticswithjulia closed 3 years ago

roboticswithjulia commented 3 years ago

Hello, I am using this package using the apriltags 36h11 in a gazebo simulation. I have represented in the TF tree where the real apriltags are. If I compare the TF obtained by the package and also the real one, they are slightly different.

Gazebo TF's

Do you have any Idea why they are different? May I need to do an specific calibration of the gazebo's camera?

Regards and thanks,

Júlia

roboticswithjulia commented 3 years ago

The problem was solved after changing camera frames from gazebo.

Júlia