diff --git a/launch/tests/tag_bundle1.pdf b/launch/tests/tag_bundle1.pdf
new file mode 100644
index 00000000..4167ad2f
Binary files /dev/null and b/launch/tests/tag_bundle1.pdf differ
diff --git a/launch/tests/tag_bundle1.png b/launch/tests/tag_bundle1.png
index dc781a40..cd509267 100644
Binary files a/launch/tests/tag_bundle1.png and b/launch/tests/tag_bundle1.png differ
diff --git a/launch/tests/tags.yaml b/launch/tests/tags.yaml
index e9acaa8e..e9d9c610 100644
--- a/launch/tests/tags.yaml
+++ b/launch/tests/tags.yaml
@@ -47,19 +47,13 @@ tag_bundles:
        name: 'tag_bundle1',
        layout:
          [
-           # pixel = 180mm/30 = 6mm
-           {id: 1,   size: 0.0480, x: 0.0000, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 2,   size: 0.0480, x: 0.0600, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 3,   size: 0.0480, x: 0.1200, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 25,  size: 0.0480, x: 0.0000, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 26,  size: 0.0480, x: 0.0600, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 27,  size: 0.0480, x: 0.1200, y: -0.0600, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 49,  size: 0.0480, x: 0.0000, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 50,  size: 0.0480, x: 0.0600, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 51,  size: 0.0480, x: 0.1200, y: -0.1200, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 73,  size: 0.0480, x: 0.0000, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 74,  size: 0.0480, x: 0.0600, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
-           {id: 75,  size: 0.0480, x: 0.1200, y: -0.1800, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           # for a pixel = ~8mm 
+           {id: 1,   size: 0.0620, x: 0.0000, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 2,   size: 0.0620, x: 0.0770, y:  0.0000, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 25,  size: 0.0620, x: 0.0000, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 26,  size: 0.0620, x: 0.0770, y: -0.0770, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 49,  size: 0.0620, x: 0.0000, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0},
+           {id: 50,  size: 0.0620, x: 0.0770, y: -0.1540, z: 0, qw: 1, qx: 0, qy: 0, qz: 0}
          ]
      },
    ]
diff --git a/launch/tests/test_apriltags2.launch b/launch/tests/test_apriltags2.launch
index b15e76f1..9b3a20c9 100644
--- a/launch/tests/test_apriltags2.launch
+++ b/launch/tests/test_apriltags2.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- Print on the file tag_bundle1.png (with GIMP: set width in Image Settings to 180.00mm) -->
+  <!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) -->
   <!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed -->
   <!-- The TF published by apriltags_ros should match the point cloud created by the camera -->
   <!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->