@Rupesh What rotation matrix are you currently using in your tag_locations.conf
?
You can try setting it to:
[[0, 1, 0],
[0, 0, 1],
[1, 0, 0]]
Keep in mind that relocalization will only work reliably at certain viewing angles relative to the AprilTag. A good way to test is to rotate the tag and observe at which orientations voxl-vision-hub --debug_fixed_frame
gives a value and not WARNING, apriltag roll/pitch out of bounds
. Improvements are in progress to make this more robust across a wider range of angles.