This is the ROS2 wrapper for Aruco detection based on ORBSLAM2 library.
Note that the path where the list of "good" Aruco codes is: /usr/local/share/ORB_SLAM2/ and the file must be named arucoCodes.dat.
Here follows and example of that file:
23
25
Means that the aruco codes that will be considered by the system are only those corresponding to 23 and 25, all the other detected codes will be discarded.