Aruco object memory

Add Object Memory Core Segment for ArUco Markers

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -32,6 +32,7 @@
 #include <RobotAPI/libraries/armem/client/query.h>
 #include <RobotAPI/libraries/armem/core/Prediction.h>
 #include <RobotAPI/libraries/armem_objects/aron/ObjectInstance.aron.generated.h>
+#include <RobotAPI/libraries/armem_objects/aron/Marker.aron.generated.h>
 
 
 namespace armarx::armem::server::obj
@@ -67,6 +68,9 @@ namespace armarx::armem::server::obj
                        "Duration of time window into the past to use for predictions"
                        " when requested via the PredictingMemoryInterface (in seconds).");
 
+        defs->optional(p.markerMemoryName, prefix + ".marker.Name", "Marker Memory Name");
+        defs->optional(p.maxMarkerHistorySize, prefix + ".marker.maxHistorySize", "Maximum marker memory history size");
+
         return defs;
     }
 
@@ -126,6 +130,13 @@ namespace armarx::armem::server::obj
         {
             attachmentSegment.init();
         });
+
+        initSegmentWithCatch(p.markerMemoryName, [&]()
+        {
+            workingMemory()
+              .addCoreSegment(p.markerMemoryName, arondto::Marker::ToAronType())
+              .setMaxHistorySize(p.maxMarkerHistorySize);
+        });
     }