makers not detected in gazebo camera images

[david-wb]

I'm trying to detect makers in images from a simulated camera in gazebo ignition (fortress). Aruco is receiving the images and camera info, however the markers are not detected. The exact same setup works when using a real camera (astra), but not in simulation. Any ideas what the problem might be? I have a hunch it is related to either lighting conditions or the camera_info data. Thanks in advance.

The simulated camera feedback you see in the bottom left of the screenshot above shows the "aruco result" image which has no markers.

[david-wb]

I should add that I'm using the marker_publisher launch file. I have verified the image callback is called but no makers are detected. Thus, I think it must be a problem with either the image or the camera params. I am not doing any image rectification or processing, as that was not needed with the real camera either.