diff --git a/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based.launch.xml
new file mode 100644
index 00000000..b7d5c026
--- /dev/null
+++ b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based.launch.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_id" default="default"/>
+  <let name="sensor_model" value="aip_demo"/>
+  <arg name="camera_name" default=""/>
+  <arg name="rviz" default="false"/>
+
+  <group>
+    <push-ros-namespace namespace="sensor_kit"/>
+    <include file="$(find-pkg-share extrinsic_calibration_manager)/launch/$(var sensor_model)/tag_based_sensor_kit.launch.xml">
+      <arg name="vehicle_id" value="$(var vehicle_id)"/>
+      <arg name="camera_name" value="$(var camera_name)"/>
+      <arg name="rviz" value="$(var rviz)"/>
+    </include>
+  </group>
+</launch>
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_base.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_base.launch.xml
new file mode 100644
index 00000000..bdfe7a39
--- /dev/null
+++ b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_base.launch.xml
@@ -0,0 +1,162 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_id" default="default"/>
+  <let name="sensor_model" value="aip_demo"/>
+  <arg name="camera_name" default=""/>
+  <arg name="rviz" default="false"/>
+
+  <!-- we do not use the standard image_raw name to avoid naming conflicts -->
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_base_calibrator)/rviz/demo.rviz"/>
+
+  <!-- Common tag parameters -->
+  <let name="waypoint_tag_size" value="0.6"/>
+  <let name="ground_tag_size" value="0.22"/>
+  <let name="wheel_tag_size" value="0.166"/>
+
+  <!-- calibration api -->
+  <arg name="base_frame" default="base_link"/>
+  <arg name="sensor_kit_frame" default="sensor_kit_base_link"/>
+  <arg name="lidar_base_frame" default="hesai"/>
+  <arg name="lidar_frame" default="hesai"/>
+
+  <!-- top: lidartag detector -->
+  <group>
+    <push-ros-namespace namespace="top"/>
+
+    <include file="$(find-pkg-share lidartag)/launch/lidartag_pandar_40p.launch.xml">
+      <arg name="pointcloud_topic" value="/aw_points"/>
+    </include>
+
+    <node pkg="tier4_tag_utils" exec="lidartag_filter_node" name="lidartag_filter" output="screen">
+      <param name="max_no_observation_time" value="3.0"/>
+      <param name="new_hypothesis_distance" value="1.5"/>
+
+      <param name="new_hypothesis_transl" value="0.1"/>
+      <param name="new_hypothesis_rot" value="15.0"/>
+      <param name="measurement_noise_transl" value="0.05"/>
+      <param name="measurement_noise_rot" value="5.0"/>
+      <param name="process_noise_transl" value="0.01"/>
+      <param name="process_noise_transl_dot" value="0.001"/>
+      <param name="process_noise_rot" value="1.0"/>
+      <param name="process_noise_rot_dot" value="0.1"/>
+    </node>
+  </group>
+
+  <!-- base -> sensor_kit: extrinsic_calibration_client -->
+  <arg name="base_to_sensor_kit_src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensors_calibration.yaml"/>
+  <arg name="base_to_sensor_kit_dst_yaml" default="$(env HOME)/sensors_calibration.yaml"/>
+
+  <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="base_to_sensor_kit_extrinsic_calibration_client" output="screen">
+    <remap from="extrinsic_calibration_manager" to="base_to_sensor_kit_extrinsic_calibration_manager"/>
+    <param name="src_path" value="$(var base_to_sensor_kit_src_yaml)"/>
+    <param name="dst_path" value="$(var base_to_sensor_kit_dst_yaml)"/>
+  </node>
+
+  <!-- base -> sensor_kit: extrinsic_calibration_manager -->
+  <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="base_to_sensor_kit_extrinsic_calibration_manager" output="screen">
+    <remap from="extrinsic_calibration_manager" to="base_to_sensor_kit_extrinsic_calibration_manager"/>
+    <param name="parent_frame" value="$(var base_frame)"/>
+    <param name="child_frames" value="
+    [$(var sensor_kit_frame)]"/>
+  </node>
+
+  <!-- base-lidar calibrator -->
+  <include file="$(find-pkg-share extrinsic_tag_based_base_calibrator)/launch/calibrator.launch.xml">
+    <arg name="base_frame" value="base_link"/>
+
+    <arg name="lidar_sensor_kit_frames" value="[$(var sensor_kit_frame)]"/>
+    <arg name="calibration_lidar_parent_frames" value="[$(var lidar_base_frame)]"/>
+    <arg name="lidar_calibration_service_names" value="['$(var base_frame)/$(var sensor_kit_frame)']"/>
+
+    <arg name="camera_sensor_kit_frames" value="['']"/>
+    <arg name="calibration_camera_parent_frames" value="['']"/>
+    <arg name="camera_calibration_service_names" value="['']"/>
+
+    <arg name="main_calibration_sensor_frame" value="$(var lidar_frame)"/>
+    <arg name="calibration_lidar_frames" value="[$(var lidar_frame)]"/>
+    <arg name="calibration_camera_frames" value="['']"/>
+
+    <!-- Topic configuration -->
+    <arg name="calibration_lidar_detections_topics" value="['/top/lidartag/filtered/detections_array']"/>
+    <arg name="calibration_image_detections_topics" value="['']"/>
+    <arg name="calibration_camera_info_topics" value="['']"/>
+    <arg name="calibration_image_topics" value="['']"/>
+
+    <!-- Tag configuration - 2022 - BS -->
+    <!--arg name="waypoint_tag_ids" value="[0]"/>
+    <arg name="ground_tag_ids" value="[6,  7,  8,  9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30]"/>
+
+    <arg name="left_wheel_tag_id" value="4"/>
+    <arg name="right_wheel_tag_id" value="3"/>
+
+    <arg name="ground_tag_size" value="0.163"/-->
+
+    <!--Tag configuration - 2023/04/21 - Omiya -->
+    <arg name="waypoint_tag_ids" value="[0, 3, 4, 5]"/>
+    <arg name="waypoint_tag_size" value="$(var waypoint_tag_size)"/>
+
+    <arg name="ground_tag_family" value="tag36h11"/>
+    <arg name="ground_tag_rows" value="1"/>
+    <arg name="ground_tag_cols" value="1"/>
+    <arg name="ground_tag_size" value="$(var ground_tag_size)"/>
+    <arg name="ground_tag_spacing" value="0.2"/>
+    <arg
+      name="ground_tag_ids"
+      value="[50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99]
+"
+    />
+
+    <arg name="auxiliar_tag_family" value="tag36h11"/>
+    <arg name="auxiliar_tag_rows" value="1"/>
+    <arg name="auxiliar_tag_cols" value="1"/>
+    <arg name="auxiliar_tag_size" value="$(var ground_tag_size)"/>
+    <arg name="auxiliar_tag_spacing" value="0.2"/>
+    <arg
+      name="auxiliar_tag_ids"
+      value="[0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49]"
+    />
+    <!-- 20230512 - had to take 12 away since it was moved during the experiment -->
+
+    <arg name="wheel_tag_family" value="tag16h5"/>
+    <arg name="wheel_tag_rows" value="2"/>
+    <arg name="wheel_tag_cols" value="2"/>
+    <arg name="wheel_tag_size" value="$(var wheel_tag_size)"/>
+    <arg name="wheel_tag_spacing" value="0.2"/>
+    <arg name="left_wheel_tag_id" value="22"/>
+    <arg name="right_wheel_tag_id" value="26"/>
+
+    <!-- Initial intrinsics calibration -->
+    <arg name="initial_intrinsic_calibration_tag_family" value="tag16h5"/>
+    <arg name="initial_intrinsic_calibration_tag_rows" value="1"/>
+    <arg name="initial_intrinsic_calibration_tag_cols" value="1"/>
+    <arg name="initial_intrinsic_calibration_tag_size" value="0.6"/>
+    <arg name="initial_intrinsic_calibration_tag_spacing" value="0.2"/>
+    <arg name="intrinsic_calibration_tag_ids" value="[0, 1, 2, 3, 4, 5]"/>
+
+    <!-- Optimization configuration -->
+    <arg name="ba_optimize_intrinsics" value="true"/>
+    <arg name="ba_share_intrinsics" value="true"/>
+    <arg name="ba_force_shared_ground_plane" value="true"/>
+
+    <!-- Initial intrinsics calibration -->
+    <arg name="initial_intrinsic_calibration_board_type" value="chessboard"/>
+    <arg name="intrinsic_calibration_tag_ids" value="[0, 4, 5]"/>
+
+    <!-- Optimization configuration -->
+    <arg name="ba_optimize_intrinsics" value="true"/>
+    <arg name="ba_share_intrinsics" value="true"/>
+    <arg name="ba_force_shared_ground_plane" value="true"/>
+  </include>
+
+  <node pkg="tf2_ros" exec="static_transform_publisher" name="estimated_base_link_broadcaster" output="screen" args="0 0 0 0 0 0 velodyne_top estimated_base_link"/>
+
+  <node pkg="rviz2" exec="rviz2" name="rviz2" output="log" args="-d $(var rviz_profile)" if="$(var rviz)"/>
+
+  <node
+    pkg="tf2_ros"
+    exec="static_transform_publisher"
+    name="lidar_hack_broadcaster"
+    output="screen"
+    args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy -0.0 --qz 0.0 --qw 1.0 --frame-id hesai --child-frame-id lidar"
+  />
+</launch>
diff --git a/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_sensor_kit.launch.xml b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_sensor_kit.launch.xml
new file mode 100644
index 00000000..c6561bdf
--- /dev/null
+++ b/sensor/extrinsic_calibration_manager/launch/aip_demo/tag_based_sensor_kit.launch.xml
@@ -0,0 +1,97 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="vehicle_id" default="default"/>
+  <let name="sensor_model" value="aip_demo"/>
+  <let name="parent_frame" value="sensor_kit_base_link"/>
+
+  <arg name="camera_name"/>
+  <arg name="rviz"/>
+
+  <!-- we do not use the standard image_raw name to avoid naming conflicts -->
+  <let name="image_decompressed_topic" value="/image_raw/decompressed"/>
+  <let name="image_compressed_topic" value="/image_raw/compressed"/>
+
+  <let name="camera_info_topic" value="/camera_info"/>
+  <let name="pointcloud_topic" value="/aw_points"/>
+
+  <let name="calibrate_sensor" value="false"/>
+  <let name="calibrate_sensor" value="true" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
+
+  <let name="camera_frame" value=""/>
+  <let name="camera_frame" value="camera0/camera_link" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
+
+  <let name="rviz_profile" value=""/>
+  <let name="rviz_profile" value="$(find-pkg-share extrinsic_tag_based_calibrator)/rviz/tag_calib_camera0_pandar_40p_demo.rviz" if="$(eval &quot;'$(var camera_name)' == 'camera0' &quot;)"/>
+
+  <let name="lidar_model" value="pandar_40p"/>
+
+  <!-- extrinsic_calibration_client -->
+  <arg name="src_yaml" default="$(find-pkg-share individual_params)/config/$(var vehicle_id)/$(var sensor_model)/sensor_kit_calibration.yaml"/>
+  <arg name="dst_yaml" default="$(env HOME)/sensor_kit_calibration.yaml"/>
+
+  <node pkg="extrinsic_calibration_client" exec="extrinsic_calibration_client" name="extrinsic_calibration_client" output="screen" if="$(var calibrate_sensor)">
+    <param name="src_path" value="$(var src_yaml)"/>
+    <param name="dst_path" value="$(var dst_yaml)"/>
+  </node>
+
+  <!-- extrinsic_calibration_manager -->
+  <node pkg="extrinsic_calibration_manager" exec="extrinsic_calibration_manager" name="extrinsic_calibration_manager" output="screen" if="$(var calibrate_sensor)">
+    <param name="parent_frame" value="$(var parent_frame)"/>
+    <param name="child_frames" value="
+    [$(var camera_frame)]"/>
+  </node>
+
+  <!-- image decompressor -->
+  <node pkg="image_transport_decompressor" exec="image_transport_decompressor_node" name="decompressor" output="screen">
+    <remap from="decompressor/input/compressed_image" to="$(var image_compressed_topic)"/>
+    <remap from="decompressor/output/raw_image" to="$(var image_decompressed_topic)"/>
+  </node>
+
+  <!-- tag based calibrator -->
+  <include file="$(find-pkg-share extrinsic_tag_based_calibrator)/launch/calibrator.launch.xml" if="$(var calibrate_sensor)">
+    <arg name="ns" value="$(var parent_frame)/$(var camera_name)/camera_link"/>
+    <arg name="parent_frame" value="$(var parent_frame)"/>
+    <arg name="child_frame" value="$(var camera_frame)"/>
+    <arg name="image_topic" value="$(var image_decompressed_topic)"/>
+    <arg name="camera_info_topic" value="$(var camera_info_topic)"/>
+    <arg name="pointcloud_topic" value="$(var pointcloud_topic)"/>
+    <arg name="pointcloud_topic_ex" value="$(var camera_info_topic)"/>
+    <arg name="lidar_model" value="$(var lidar_model)"/>
+  </include>
+
+  <!-- interactive calibrator -->
+  <group if="$(var calibrate_sensor)">
+    <push-ros-namespace namespace="$(var parent_frame)/$(var camera_frame)"/>
+
+    <node pkg="extrinsic_interactive_calibrator" exec="interactive_calibrator" name="interactive_calibrator" output="screen">
+      <remap from="pointcloud" to="$(var pointcloud_topic)"/>
+      <remap from="image" to="$(var image_compressed_topic)"/>
+      <remap from="camera_info" to="$(var camera_info_topic)"/>
+      <remap from="calibration_points_input" to="calibration_points"/>
+
+      <param name="camera_parent_frame" value="$(var parent_frame)"/>
+      <param name="camera_frame" value="$(var camera_frame)"/>
+      <param name="use_calibration_api" value="false"/>
+      <param name="can_publish_tf" value="false"/>
+    </node>
+
+    <include file="$(find-pkg-share intrinsic_camera_calibration)/launch/optimizer.launch.xml"/>
+    <node pkg="rviz2" exec="rviz2" name="rviz2" output="screen" args="-d $(var rviz_profile)" if="$(var rviz)"/>
+  </group>
+
+  <node
+    pkg="tf2_ros"
+    exec="static_transform_publisher"
+    name="camera_optical_link_broacaster"
+    output="screen"
+    args="--x 0.0 --y 0.0 --z 0.0 --qx 0.5 --qy -0.5 --qz 0.5 --qw -0.5 --frame-id camera0/camera_link --child-frame-id camera0"
+  />
+
+  <node
+    pkg="tf2_ros"
+    exec="static_transform_publisher"
+    name="lidar_hack_broadcaster"
+    output="screen"
+    args="--x 0.0 --y 0.0 --z 0.0 --qx 0.0 --qy -0.0 --qz 0.0 --qw 1.0 --frame-id hesai --child-frame-id lidar"
+  />
+</launch>
diff --git a/sensor/extrinsic_tag_based_base_calibrator/rviz/demo.rviz b/sensor/extrinsic_tag_based_base_calibrator/rviz/demo.rviz
new file mode 100644
index 00000000..5daaec8f
--- /dev/null
+++ b/sensor/extrinsic_tag_based_base_calibrator/rviz/demo.rviz
@@ -0,0 +1,475 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /top1
+        - /calibration markers1
+        - /calibration markers1/Namespaces1
+        - /base_link_grid1
+      Splitter Ratio: 0.5
+    Tree Height: 719
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+      - /Current View1/Position1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Class: rviz_default_plugins/Axes
+      Enabled: false
+      Length: 1
+      Name: Axes
+      Radius: 0.009999999776482582
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: top
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /aw_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: left
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/lidar/left/pointcloud_raw
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: right
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/lidar/right/pointcloud_raw
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 0; 255; 0
+      Color Transformer: FlatColor
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: rear
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/lidar/rear/pointcloud_raw
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: calibration markers
+      Namespaces:
+        initial_base_link: true
+        initial_connections: false
+        initial_estimations: true
+        initial_ground_plane: true
+        optimized_base_link: true
+        optimized_connections: false
+        optimized_estimations: true
+        optimized_ground_plane: true
+        raw_detections: true
+        raw_detections_s0_e0: false
+        raw_detections_s0_e1: false
+        raw_detections_s0_e10: false
+        raw_detections_s0_e11: false
+        raw_detections_s0_e12: false
+        raw_detections_s0_e13: false
+        raw_detections_s0_e14: false
+        raw_detections_s0_e15: false
+        raw_detections_s0_e16: false
+        raw_detections_s0_e17: false
+        raw_detections_s0_e18: false
+        raw_detections_s0_e19: false
+        raw_detections_s0_e2: false
+        raw_detections_s0_e20: false
+        raw_detections_s0_e21: false
+        raw_detections_s0_e22: false
+        raw_detections_s0_e23: false
+        raw_detections_s0_e24: false
+        raw_detections_s0_e25: false
+        raw_detections_s0_e26: false
+        raw_detections_s0_e27: false
+        raw_detections_s0_e28: false
+        raw_detections_s0_e29: false
+        raw_detections_s0_e3: false
+        raw_detections_s0_e30: false
+        raw_detections_s0_e31: false
+        raw_detections_s0_e32: false
+        raw_detections_s0_e33: false
+        raw_detections_s0_e34: false
+        raw_detections_s0_e35: false
+        raw_detections_s0_e36: false
+        raw_detections_s0_e37: false
+        raw_detections_s0_e4: false
+        raw_detections_s0_e5: false
+        raw_detections_s0_e6: false
+        raw_detections_s0_e7: false
+        raw_detections_s0_e8: false
+        raw_detections_s0_e9: false
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /markers
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 0.10000000149011612
+      Class: rviz_default_plugins/Grid
+      Color: 171; 171; 171
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: base_link_grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 80
+      Reference Frame: base_link
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 0.10000000149011612
+      Class: rviz_default_plugins/Grid
+      Color: 0; 255; 127
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: estimated_base_link_grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 80
+      Reference Frame: estimated_base_link
+      Value: false
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: base link
+      Radius: 0.009999999776482582
+      Reference Frame: base_link
+      Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: estimated_base link
+      Radius: 0.009999999776482582
+      Reference Frame: estimated_base_link
+      Value: true
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: velodyne_top
+      Radius: 0.009999999776482582
+      Reference Frame: velodyne_top
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: rear_detections_frames
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rear/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: left_detections_frames
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /left/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: right_detections_frames
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /right/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: top_detections_frames
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: rear_detections_ids
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /rear/lidartag/id_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: left_detections_ids
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /left/lidartag/id_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: right_detections_ids
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /right/lidartag/id_markers
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: top_detections_ids
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /top/lidartag/id_markers
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: hesai
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/FPS
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.7149995565414429
+      Position:
+        X: -0.2781630754470825
+        Y: 2.530117988586426
+        Z: 3.3636081218719482
+      Target Frame: <Fixed Frame>
+      Value: FPS (rviz_default_plugins)
+      Yaw: 4.833966255187988
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001cd0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000002fb00fffffffb0000000800540069006d006501000000000000045000000000000000000000044e0000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1846
+  X: 1994
+  Y: 27
diff --git a/sensor/extrinsic_tag_based_base_calibrator/src/extrinsic_tag_based_base_calibrator.cpp b/sensor/extrinsic_tag_based_base_calibrator/src/extrinsic_tag_based_base_calibrator.cpp
index 0cab21ca..dad9809c 100644
--- a/sensor/extrinsic_tag_based_base_calibrator/src/extrinsic_tag_based_base_calibrator.cpp
+++ b/sensor/extrinsic_tag_based_base_calibrator/src/extrinsic_tag_based_base_calibrator.cpp
@@ -773,6 +773,10 @@ void ExtrinsicTagBasedBaseCalibrator::visualizationTimerCallback()
 
     // Iterate over all the detections of said camera
     for (const UID & tag_uid : data_->uid_connections_map[sensor_uid]) {
+      if (data_->initial_tag_poses_map.count(tag_uid) == 0) {
+        continue;
+      }
+
       addLineMarker(
         markers, initial_connections_color, sensor_pose, *data_->initial_tag_poses_map[tag_uid],
         initial_connections_base_marker);
@@ -818,6 +822,10 @@ void ExtrinsicTagBasedBaseCalibrator::visualizationTimerCallback()
 
     // Iterate over all the detections of said camera
     for (const UID & tag_uid : data_->uid_connections_map[sensor_uid]) {
+      if (data_->optimized_tag_poses_map.count(tag_uid) == 0) {
+        continue;
+      }
+
       addLineMarker(
         markers, optimized_connections_color, sensor_pose, *data_->optimized_tag_poses_map[tag_uid],
         optimized_connections_base_marker);
diff --git a/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera0_pandar_40p_demo.rviz b/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera0_pandar_40p_demo.rviz
new file mode 100644
index 00000000..5c22652d
--- /dev/null
+++ b/sensor/extrinsic_tag_based_calibrator/rviz/tag_calib_camera0_pandar_40p_demo.rviz
@@ -0,0 +1,1187 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Image1/Topic1
+        - /Raw Pointcloud1
+        - /(Optimized) Binary Transformed Points1/Topic1
+        - "/Cluster info: detail code1/Topic1"
+        - "/Cluster info: detail code1/Namespaces1"
+        - /Marker1/Topic1
+        - /Marker2/Topic1
+        - /Marker3/Topic1
+        - /Marker5/Topic1
+        - /Marker6/Topic1
+        - /Marker7/Topic1
+        - /Marker8/Topic1
+        - /Tag calib markers (filtered)1
+        - /Tag calib markers (filtered)1/Namespaces1
+      Splitter Ratio: 0.6812933087348938
+    Tree Height: 797
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: Raw Pointcloud
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 226; 226; 226
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 20
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 0.5
+      Cell Size: 0.13500000536441803
+      Class: rviz_default_plugins/Grid
+      Color: 226; 226; 226
+      Enabled: false
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid Template
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: YZ
+      Plane Cell Count: 6
+      Reference Frame: <Fixed Frame>
+      Value: false
+    - Class: rviz_default_plugins/Axes
+      Enabled: true
+      Length: 1
+      Name: Axes
+      Radius: 0.10000000149011612
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz_default_plugins/Image
+      Enabled: false
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensing/camera/camera0/image_raw
+      Value: false
+    - Class: rviz_default_plugins/Camera
+      Enabled: false
+      Far Plane Distance: 100
+      Image Rendering: background and overlay
+      Name: Camera
+      Overlay Alpha: 0.5
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /sensing/camera/camera0/image_raw
+      Value: false
+      Visibility:
+        (Before Transformed) Edge Pointcloud: true
+        (Optimized) Binary Transformed Points: true
+        (Optimized) Transformed Point: true
+        Axes: true
+        Boundary Points: true
+        "Cluster info: detail code": true
+        "Cluster info: size": true
+        Clusters: true
+        Colored Cluster: true
+        Estimated Corners (PCA): true
+        Filled Cluster B&W: true
+        Filled Clusters: true
+        Grid: true
+        Grid Template: true
+        ID: true
+        Image: true
+        Initial Corners: true
+        Initial Transformed Points: true
+        Initial guess Corners: true
+        Intersection Markers: true
+        Marker: true
+        MarkerArray (Unused): true
+        PointCloud2: true
+        Points of Interest: true
+        Raw Pointcloud: true
+        Tag Frame: true
+        Tag calib markers (filtered): true
+        Tag calib markers (unfiltered): true
+        Template Frame: true
+        Template Points: true
+        Value: true
+        edges1: true
+        edges2: true
+        edges3: true
+        edges4: true
+      Zoom Factor: 1
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 255
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Raw Pointcloud
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Best Effort
+        Value: /aw_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 78
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Points of Interest
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/whole_edged_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 49
+      Min Color: 0; 0; 0
+      Min Intensity: 1
+      Name: Clusters
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.029999999329447746
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/cluster_edge_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 0.20000000298023224
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 89
+      Min Color: 0; 0; 0
+      Min Intensity: 2
+      Name: Filled Clusters
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 4
+      Size (m): 0.009999999776482582
+      Style: Points
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/detected_pc
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Filled Clusters
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/boundary_marker
+      Value: false
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: false
+      Name: Filled Cluster B&W
+      Namespaces:
+        {}
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/cluster_marker
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 77
+      Min Color: 0; 0; 0
+      Min Intensity: 27
+      Name: Boundary Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.019999999552965164
+      Style: Boxes
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/boundary_pts
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 0
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Estimated Corners (PCA)
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.05000000074505806
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/transformed_points_tag
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 50
+      Min Color: 0; 0; 0
+      Min Intensity: 50
+      Name: Initial guess Corners
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.10000000149011612
+      Style: Spheres
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/transformed_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz_default_plugins/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: false
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 93
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: Initial Transformed Points
+      Position Transformer: XYZ
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/initial_template_points
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: false
+    - Class: rviz_default_plugins/Marker
+      Enabled: true
+      Name: Tag Frame
+      Namespaces:
+        "": true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/tag_frame
+      Value: true
+    - Class: rviz_default_plugins/MarkerArray
+      Enabled: true
+      Name: ID
+      Namespaces:
+        Text4: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /sensor_kit/sensor_kit_base_link/camera0/camera_link/lidartag/id_markers
+      Value: true
+    - Alpha: 1
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+        History Policy: Keep Last
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