Tricky patch to minimize the impact of wrong readings
Some debuging (now commented) and more time tolerance for reinitialization
Provide a confidence measure of tracked markers
Set max_frequency parameter so other nodes can read it (e.g. ar_markers)
Move ar_markers params to a yaml file
Definitive version; about to rename without the 2
IR sensors: use bosch drivers instead of arduino-ROS serial gateway
Get params from move_base_multi_layer. Publish markers to visualize voxel maps
Some extra debug stuff
Make block higher so I can move it. No idea why I added trailing zeros to coordinates....
Experimenting with multi-layer... not used in demos by now