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I think I'm not understanding what he means by -DARUCO_PATH=/usr/local.

I'm simply using the command: catkin_make --pkg ros_aruco -DARUCO_PATH=/usr/local/include/aruco

And in that location is the aruco.h file. [..]

If you look at ros_aruco/CMakeLists.txt, you'll see that ARUCO_PATH is used as a prefix to form other paths (lines 10 & 11):

[..]
SET(CMAKE_MODULE_PATH ${ARUCO_PATH}/lib/cmake )
SET(ARUCO_INCLUDE_DIRS ${ARUCO_PATH}/include/aruco )
[..]

So ARUCO_PATH should not be set to the full path to aruco.h, but to the directory containing the lib/cmake and include/aruco paths. In most cases, this will be /usr/local (as is mentioned in README.md, under BUILDING AND USAGE, step 7).

If you set ARUCO_PATH to /usr/local/include/aruco, this will eventually cause ARUCO_INCLUDE_DIRS to be set to /usr/local/include/aruco/include/aruco, which is obviously incorrect. The same is true for all other variables that prefix ARUCO_PATH.