Software package and ROS wrappers of the Aruco Augmented Reality marker detector library. More info can be found in the origin of the fork aruco.

The multi board detection currently detects the board with 6 marker as in here.

• Print your marker board with 6 markers of your choice
• Create your parameters.yaml like this. "board_id" is the aruco id of each board. "board_x/y" are the distance of the center of the each markers from the center of the multi_board. "color_r/g/b" are to visualize marker detection in rviz.
• Create a launch file like this. "marker_size", "camera_name", "camera_frame" and 'marker_frame" frames are the important arguments here. Be aware of camera topics.
• When you launch, it detect markers and calculate the postion and orientation of the multi_marker by avaraging the position and orientation of the each marker
• To test markers on Gazebo simulations, the easiest way to generate markers in Gazebo is drawing them in urdf. You can find first 7 markers here

• Orientation averaging
• Marker urdf generator
• Different multi_board schemes