Can't get correct position of ARMarkers

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Check your the file that specifies the patterns you will use. It contains the name, the marker to detect, its width and center position. If you have the wrong size there, the algorithm will think the markers are closer/farther then they really are. This file will be loaded by the ar_pose package, for example in your launch file:

<param name="marker_pattern_list" type="string" value="$(find yourpackage)/yourpatterns"/>

yourpatterns file will look like this:

#the number of patterns to be recognized
3

#pattern 1
#Sample1
#data/patt.sample1
#250.0
#0.0 0.0

#pattern 2
Sample2
data/patt.sample2
250.0
0.0 0.0

#pattern 3
Hiro
data/patt.hiro
250.0
0.0 0.0

#pattern 4
Kanji
data/patt.kanji
250.0
0.0 0.0

You have to measure the size of your printed marker and write it in mm in the third field of each pattern block (where you read 250.0 here).