Using the front camera leads to navigation errors

[Bread2018]

Hi！
I try to use front camera in Gazebo simulation, firstly the robot can successfully enter the searching state(start rotation), when it found the tag, The robot starts to rotate, and keeps the tag in the field of view while facing the vertical line of the tag, and then adjusts it bit by bit, but at this time there is a problem:
during the centering process, the robot will rotate too much, which cause only half of the tag in the field of view, at this time, the state will stuck in tag counter loop, and then the TF of the tag_detection will disappear, causing the navigation to freeze. But it works smoothly with top_camera.
Is it because the camera_link and base_link are not the same in the vertical direction？
How to fix it?

[QQting]

Thanks for your report. I can reproduce this issue, but I don't have time to fix it now. Sorry for that~

[Bread2018]

OK thank you