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1️Starting ArUco Detection

Launch the ArUco detection node to detect markers and publish their poses.

ros2 run aruco_mission aruco_mission_node

Purpose

• Detects ArUco markers from the camera stream
• Publishes marker IDs and poses for downstream tasks

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2️ Waypoint Follower

Run the waypoint follower node to navigate through generated waypoints.

ros2 run mission_follower waypoint_follower

Purpose

• Subscribes to waypoint data
• Commands the robot/drone to follow the waypoint sequence

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3️ Graph Generation from OctoMap

Generate a navigation graph / waypoints from the OctoMap representation.

ros2 run octomap_map_generator waypoint_extractor_node

Purpose

• Processes OctoMap data
• Extracts navigable waypoints or graph structure for planning

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