Extreme pose jitter and map doesn't match about fiducials HOT 2 CLOSED

This package implements a system that uses ceiling mounted fiducial markers (think QR Codes) to allow a robot to identify its location and orientation.

a system that uses ceiling mounted fiducial markers

ceiling mounted

There's your problem. The system makes the assumption that all the markers are on the same horizontal plane above the robot, and it won't really work for your setup with any reasonable accuracy.

from fiducials.

This package implements a system that uses ceiling mounted fiducial markers (think QR Codes) to allow a robot to identify its location and orientation.

a system that uses ceiling mounted fiducial markers

ceiling mounted

There's your problem. The system makes the assumption that all the markers are on the same horizontal plane above the robot, and it won't really work for your setup with any reasonable accuracy.

Thanks

from fiducials.