Pose estimation error with ar_pose

I am using ar_pose package to estimate the pose of aruco marker. The camera I used is the gazebo camera. The description of the camera is following in urdf file: 30.00.8727640480BGR80.0250gaussian0.00.007true0.0cameraimage_rawcamera_infocamera_link_optical0.070.00.00.00.00.0 In launch file, I ran the ar_pose node like this: The estimation result shows in the picture.  It seems that the detected pose is not aligned to the marker pose. Someone knows why and thanks for the attention!