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The primary issue is that aruco.h cannot be found. Do you have that file on your system? Where is it at? How did you get it?

I notice that the gazebo_cpp_examples package.xml declares dependencies on aruco. On my system, rosdep resolve aruco reveals that this dependency could be provided by the ros-indigo-aruco apt-get package. Do you have this package installed, is it available on your system? I also notice the directions you linked don't seem to mention this getting this package either from source or from apt-get. Perhaps it is just a mistake in the directions.