autodock failed when robot turned

[wowowolala]

when I run autodock , I have this problem like below picture.
I found that when the robot turned, the tf wouldn't be detected.
How could I fix this?

And the second problem is the robot have a large turn and result in aruco marker didn't appear in screen.
Which param could improve this situation?

[codebot]

When does the marker detection fail to work? Before or after that dead-reckoning motion?

Ideally, the robot should drive towards the markers, and then as it gets closer, it will turn 90 degrees, drive until it is directly in front of the markers, and then turn back to the markers to complete the docking. Those two 90-degree turns and the short straight driving must be done using dead reckoning, because the markers will not be in view. If the robot's odometry and heading estimation is very noisy, it is possible this motion will be unreliable and additional "search" may be required.

Alternatively, you could modify the starting point of the entire docking sequence to be closer to the markers, or print larger markers (say, 2x the size shown above). Those markers look pretty small in the camera feed, if the screenshot is showing full resolution.