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Assuming your Aruco system + odometry/ekf can give a globally accurate localization, possibly - since it is really a full replacement for AMCL at that point. Since you have no obstacle sensors, you're really just using the planners from the navigation stack. You'll need to either create a map image or write a ROS node to publish your fixed map.

One note - you'll need to make sure that your EKF/camera system gives a heading (in addition to x,y).