I suspect this is what we saw occasionally on Monday when the rover dropped a block off outside of the home ring. Poor detections are much more common in the real world, especially with our ripped up home plate.
I also updated apriltags2to1/apriltag_converter to publish a PoseArray, like apriltags_ros used to, because RViz has a convenient plugin to visualize them, allowing you to see the pose of every tag in view (including the messed up poses).
I ran the same test as is shown in the GIF on #200. The home location never jumped while I drove the rover back and forth across one side of the home ring 20+ times. As you can see in the GIF, sometimes the position would jump each time the rover drove across a side of home.
This should address #200
I suspect this is what we saw occasionally on Monday when the rover dropped a block off outside of the home ring. Poor detections are much more common in the real world, especially with our ripped up home plate.
I also updated
apriltags2to1/apriltag_converterto publish aPoseArray, likeapriltags_rosused to, because RViz has a convenient plugin to visualize them, allowing you to see the pose of every tag in view (including the messed up poses).I ran the same test as is shown in the GIF on #200. The home location never jumped while I drove the rover back and forth across one side of the home ring 20+ times. As you can see in the GIF, sometimes the position would jump each time the rover drove across a side of home.