How to include ArUco frame linked to base_link of two-wheel robot?

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Hi, I'm able to successfully generate tf for detected ArUco markers which is kept on the robot from a stationary camera. The ArUco markers are pasted to a cardboard box on top of the robot. So how to link the detected frame of the Aruco to the base link of the robot in urdf file. I've seen the sensor integration urdf but i'm not sure how to do for Aruco markers frame. Anybody can help me with this?