ISB ~ Acts 5 v37

Judas the Galilean:According to the historian Josephus, he led a violent revolt against Rome for imposing taxes on Judea in A.D. 6. His philosophy of armed resistance later crystallized into the Zealot movement, which failed to liberate Israel from Roman control in the Jewish War of A.D. 66 to 70.

the census:Not the census ordered by Caesar Augustus in Lk 2:1 but a later registration for taxation in A.D. 6, when Judea came under direct Roman rule.