easy_handeye眼在手上仿真标定时，获取的相机到aruco码的位姿不对

[429229407]

版本ros-noetic
这是

• 列表配置的easy_handeye```
  <launch>
  <arg name="namespace_prefix" default="easy_handeye" />

  <arg name="marker_size" doc="Size of the ArUco marker used, in meters" value="0.2"/>
  <arg name="marker_id" doc="The ID of the ArUco marker used" value="582"/>

  <!-- <node name="reset_robot_pose" pkg="hand_eye_calibration" type="reset_robot_pose" /> -->

  <!-- start ArUco -->
  <node name="aruco_tracker" pkg="aruco_ros" type="single">
  <remap from="/camera_info" to="/camera/rgb/camera_info" />
  <remap from="/image" to="/camera/rgb/image_raw" />
  <param name="image_is_rectified" value="true"/>
  <param name="marker_size" value="$(arg marker_size)"/>
  <param name="marker_id" value="$(arg marker_id)"/>
  <param name="reference_frame" value="camera_rgb_optical_frame"/>
  <param name="camera_frame" value="camera_rgb_optical_frame"/>
  <param name="marker_frame" value="camera_marker" />
  </node>

  <!-- start easy_handeye -->
  <include file="$(find easy_handeye)/launch/calibrate.launch">
  <!-- <arg name="rviz_config_file" value="$(find robot_sim)/hand_eye_calibration/rviz/rviz_easy_handeye.config" /> -->
  <arg name="move_group" value="arm" />
  <arg name="namespace_prefix" value="$(arg namespace_prefix)" />
  <arg name="eye_on_hand" value="true" />

    <arg name="tracking_base_frame" value="camera_rgb_optical_frame" />
    <arg name="tracking_marker_frame" value="camera_marker" />
    <arg name="robot_base_frame" value="Link_0" />
    <arg name="robot_effector_frame" value="Link_6" />
  
    <arg name="freehand_robot_movement" value="false" />
    <arg name="robot_velocity_scaling" value="0.5" />
    <arg name="robot_acceleration_scaling" value="0.2" />
  

  </include>
  <include file="$(find easy_handeye)/launch/publish.launch">
  <arg name="eye_on_hand" value="true" />
  </include>
  <node name="aruco" pkg="gazebo_ros" type="spawn_model" args="-file $(find hand_eye_calibration)/urdf/model.sdf -sdf -model aruco -x 0.4 -y 0.05 -z 0.0 " />
  <!-- <node name="table" pkg="gazebo_ros" type="spawn_model" args="-file $(find hand_eye_calibration)/urdf/table_marble/model.sdf -sdf -model table -x 0.0 -y 1.2 -z 0.0" /> -->

</launch>

这是标定界面的图![2023-08-04 21-03-09屏幕截图.png](/forum/assets/uploads/files/1691154251546-2023-08-04-21-03-09屏幕截图-resized.png) 
感觉这个camera_marker的坐标系位置是不是有问题呀
0.71793; 0.97516; -0.0036655这是当前camera_marker的坐标位置![frames.png](/forum/assets/uploads/files/1691154458852-frames-resized.png)
:blush: :blush:

当前机械臂link_0的位置x:0 y:0 z:1.5
试过好几次，标定的结果都差的很离谱
    <joint name="camera_arm" type="fixed">
        <origin rpy="0 -1.57 1.57" xyz="0 -0.1 0.05" />
        <parent link="Link_6" />
        <child link="camera_base_link" />
    </joint>