How do I spawn an ArUcO marker on top of jackal
I need to put an ArUcO marker on top of my jackal in gazebo so that my drone can track it. I already have an environment where both the jackal and the drone spawn on a world, but I don't know how to add the marker so that it is fixed on top of the jackal every time I run the simulator. I already have the marker on my models aswell.
My xacro for the jackal has the following
<?xml version="1.0"?>
<!-- This URDF should be loaded into a ROS parameter using xacro, then loaded
into Gazebo using robot state publisher.
Requires the arguments: $namespace, $id -->
<robot name="jackal" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:property name="PI" value="3.1415926535897931" />
<xacro:property name="wheelbase" value="0.262" />
<xacro:property name="track" value="0.37559" />
<xacro:property name="wheel_vertical_offset" value="0.0345" />
<xacro:property name="footprint_vertical_offset" value="-0.0655" />
<xacro:property name="wheel_radius" value="0.098" />
<xacro:property name="wheel_width" value="0.040" />
<xacro:property name="chassis_length" value="0.420" />
<xacro:property name="chassis_width" value="0.310" />
<xacro:property name="chassis_height" value="0.184" />
<xacro:property name="dummy_inertia" value="1e-09"/>
<xacro:property name="mount_spacing" value="0.120" />
<material name="dark_grey"><color rgba=" 0.2 0.2 0.2 1.0" /></material>
<material name="light_grey"><color rgba="0.4 0.4 0.4 1.0" /></material>
<material name="yellow"><color rgba="0.8 0.8 0.0 1.0" /></material>
<material name="black"><color rgba="0.15 0.15 0.15 1.0" /></material>
<!-- The wheel template. -->
<xacro:macro name="wheel" params="prefix *joint_pose">
<link name="${prefix}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
<geometry>
<mesh filename="package://multi_jackal_description/meshes/jackal-wheel.stl"/>
</geometry>
<material name="black" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="${PI/2} 0 0"/>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_width}"/>
</geometry>
</collision>
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0.477"/>
<inertia
ixx="0.0013" ixy="0" ixz="0"
iyy="0.0024" iyz="0"
izz="0.0013"/>
</inertial>
</link>
<gazebo reference="${prefix}_wheel_link">
<material>Gazebo/DarkGrey</material>
</gazebo>
<joint name="${prefix}_wheel" type="continuous">
<parent link="chassis_link"/>
<child link="${prefix}_wheel_link" />
<xacro:insert_block name="joint_pose" />
<axis xyz="0 1 0" />
</joint>
<!-- In reality, Jackal has only two motors, one per side. However, it's more
straightforward for Gazebo to simulate as if there's an actuator per wheel. -->
<transmission name="${prefix}_wheel_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${prefix}_wheel">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${prefix}_actuator">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- The joints and links. -->
<xacro:wheel prefix="front_left">
<origin xyz="${wheelbase ...