diff --git a/config/settings.yaml b/config/settings.yaml
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+# AprilTag 3 code parameters
+# Find descriptions in apriltag/include/apriltag.h:struct apriltag_detector
+# apriltag/include/apriltag.h:struct apriltag_family
+tag_family: 'tag36h11' # options: tagStandard52h13, tagStandard41h12, tag36h11, tag25h9, tag16h5, tagCustom48h12, tagCircle21h7, tagCircle49h12
+tag_threads: 2 # default: 2
+tag_decimate: 1.0 # default: 1.0
+tag_blur: 0.0 # default: 0.0
+tag_refine_edges: 1 # default: 1
+tag_debug: 1 # default: 0
+max_hamming_dist: 2 # default: 2 (Tunable parameter with 2 being a good choice - values >=3 consume large amounts of memory. Choose the largest value possible.)
+# Other parameters
+publish_tf: true # default: false
+transport_hint: "raw" # default: raw, see http://wiki.ros.org/image_transport#Known_Transport_Packages for options
diff --git a/config/tags.yaml b/config/tags.yaml
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+# # Definitions of tags to detect
+#
+# ## General remarks
+#
+# - All length in meters
+# - 'size' refers to the length of the shared border between solid black and solid white rectangle.
+# See README.md or https://github.com/AprilRobotics/apriltag/wiki/AprilTag-User-Guide#pose-estimation for details.
+# - Ellipsis (...) signifies that the previous element can be repeated multiple times.
+#
+# ## Standalone tag definitions
+# ### Remarks
+#
+# - name is optional
+#
+# ### Syntax
+#
+# standalone_tags:
+# [
+# {id: ID, size: SIZE, name: NAME},
+# ...
+# ]
+standalone_tags:
+ [
+ # { id: 0, size: .100, name: "tableMarkerTop" },
+# { id: 1, size: .100, name: "tableMarkerFront" },
+# { id: 25, size: .024, name: "smallRed" },
+ ]
+# ## Tag bundle definitions
+# ### Remarks
+#
+# - name is optional
+# - x, y, z have default values of 0 thus they are optional
+# - qw has default value of 1 and qx, qy, qz have default values of 0 thus they are optional
+#
+# ### Syntax
+#
+# tag_bundles:
+# [
+# {
+# name: 'CUSTOM_BUNDLE_NAME',
+# layout:
+# [
+# {id: ID, size: SIZE, x: X_POS, y: Y_POS, z: Z_POS, qw: QUAT_W_VAL, qx: QUAT_X_VAL, qy: QUAT_Y_VAL, qz: QUAT_Z_VAL},
+# ...
+# ]
+# },
+# ...
+# ]
+tag_bundles:
+ [
+ {
+ name: 'CETI_TABLE_ONE',
+ layout:
+ [
+ { id: 0, size: .10, x: -0.318, y: -0.272, z: 0.890, qw: 0.707, qx: 0, qy: 0, qz: 0.707 }, # label is on top, readable from front
+# { id: 1, size: .10, x: 0.398, y: -0.272, z: 0.740, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 }, # label is on front side
+ ]
+ },
+ { name: 'smallRed25', layout: [ { id: 25, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigRed4', layout: [ { id: 4, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigRed5', layout: [ { id: 5, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+
+ { name: 'smallYellow26', layout: [ { id: 26, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallYellow29', layout: [ { id: 29, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallYellow31', layout: [ { id: 31, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigYellow10', layout: [ { id: 10, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigYellow11', layout: [ { id: 11, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+
+ { name: 'smallBlue28', layout: [ { id: 28, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigBlue7', layout: [ { id: 7, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigBlue8', layout: [ { id: 8, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+
+ { name: 'smallGreen32', layout: [ { id: 32, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'smallGreen34', layout: [ { id: 34, size: .024, x: 0.016, y: 0, z: 0.038, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigGreen6', layout: [ { id: 6, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ { name: 'bigGreen9', layout: [ { id: 9, size: .049, x: 0.016, y: 0, z: 0.052, qw: 0.5, qx: 0.5, qy: 0.5, qz: 0.5 } ] },
+ ]
+