I would like to use ArUco markers in the swarm_in_blocks simulation.

[lhs00419]

Local positioning system
It is worth noting that the swarm launch file is configured to use ArUcos to assist in the odometry of the drone.

The documentation states that ArUco markers are recognized, but is this also possible in the simulation? I attempted to control the drone using ArUco marker recognition, but it was not successful.

When I launched the drone using roslaunch clover simulator.launch, I checked the rosgraph and confirmed that ArUco marker recognition data was being received via the /mavros/px4flow node.

I also tried modifying the parameters to activate this node in the swarm simulation but it did not work.

I am attaching two rosgraph images for your reference.

Thank you for creating such a great project like swarm_in_blocks. I look forward to your helpful response.