AT sometimes outputs Error, more than one new minimum found.

[shardros]

This is caused when AprilTags solution solving isn't able to work something out. It outputs directly to stderr: https://github.com/AprilRobotics/apriltag/blob/04c4ec3fbb9cbbec1344049323d24e752f01bf38/apriltag_pose.c#L441

I would suggest if the robot logging level is above logging.DEBUG then redirecting the stderr of apriltags to null.

Maybe something like this: https://stackoverflow.com/a/52442331/5006710

[WillMunns]

This issue doesn't seem to break the code flow, apart from the extraneous log entry (and not detecting markers this time around) the only issue I have is with the apparent severity of the error.

From what I found, this error comes up when Apriltags cant make out the physics due to camera distortion, but I guess the same error might be triggered by having the marker on a non-planar surface (i.e. a piece of paper which isn't mounted to something stiff)

This is low impact, but we should FAQ it.