Aruco Markers

[ElDablo123]

For simulation, we want to simulation one of auton's main missions which is to travel to aruco marker locations and successfully read the tags. To do this in gazebo we have to first successfully create and launch aruco markers and cameras into our gazebo world.

1. Create aruco entities and be able to generate any number from the 4X4_50 library
2. Create the aruco marker launch file to spawn it into our gazebo world
3. Create camera urdf file and create a ros node that publishes the image so you can view it in rviz
4. Finally create the aruco detect function that accurately reports the correct aruco value

Each of these steps can be done in any order but for simplicity this order is probably best. Theres heaps of youtube videos explaining how to do each of these.

[ElDablo123]

https://gazebosim.org/docs/fortress/migrating_gazebo_classic_ros2_packages/