stretch_marker_dict.yaml

# examples of command line use
# ros2 param load detect_aruco_node ./stretch_marker_dict.yaml
# ros2 param list
# ros2 param get detect_aruco_node aruco_marker_info.130.length_mm

# Be careful with length_mm values. Stickers and printouts can vary
# significantly from your expectations. You should measure them
# directly. For example, in a prototype robot the stickers were closer
# to 23mm wide than 24mm. This 1mm difference resulted in > 1cm of
# error in the depths for the marker pose estimates when only using
# RGB images.

/**:
  ros__parameters:
    aruco_marker_info:
      '130':
        length_mm: 47
        use_rgb_only: False
        name: 'base_left'
        link: 'link_aruco_left_base'
      '131':
        length_mm: 47
        use_rgb_only: False
        name: 'base_right'
        link: 'link_aruco_right_base'
      '132':
        length_mm: 23.5
        use_rgb_only: False
        name: 'wrist_inside'
        link: 'link_aruco_inner_wrist'
      '133':
        length_mm: 23.5
        use_rgb_only: False
        name: 'wrist_top'
        link: 'link_aruco_top_wrist'
      '134':
        length_mm: 31.4
        use_rgb_only: False
        name: 'shoulder_top'
        link: 'link_aruco_shoulder'
      '246':
        length_mm: 179.0
        use_rgb_only: False
        name: 'floor_0'
        link: None
      '247':
        length_mm: 179.0
        use_rgb_only: False
        name: 'floor_1'
        link: None
      '248':
        length_mm: 179.0
        use_rgb_only: False
        name: 'floor_2'
        link: None
      '249':
        length_mm: 179.0
        use_rgb_only: False
        name: 'floor_3'
        link: None
      '10':
        length_mm: 24
        use_rgb_only: False
        name: 'target_object'
        link: None
      '21':
        length_mm: 86
        use_rgb_only: False
        name: 'user_pointer'
        link: 'None'
      'default':
        length_mm: 24
        use_rgb_only: False
        name: 'unknown'
        link: 'None'