Gazebo ROS navigation following an aruco markers waypoints path

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First of all thanks for your answer. Unfortunately ar_track_alvar is not available for ROS Noetic, but I found a plugin that allows to detect markers, gives back relative distance of the camera from the markers and the marker id.

header: seq: 194 stamp: secs: 64 nsecs: 811000000 frame_id: "camera_1_link" child_frame_id: "marker_id1" transform: translation: x: 0.014174409829777418 y: 0.1839013668578052 z: 0.5267228069866943 rotation: x: 0.8340448209764011 y: 0.004303745536665437 z: -0.005449522722099267 w: 0.5516529861053052

The message is of geometrymsg/TransformStamped type. Now I have to use this messages to drive my robot to the marker. Have I to use the navigation stack now?

I successfully used ar_track_alvar on noetic by using the noetic branch on github:

cd ~/catkin_ws/src
git clone https://github.com/ros-perception/ar_track_alvar
cd ar_track_alvar
git checkout noetic-devel

Anyway, i think you can use that message to drive your robot. If you want to use the navigation stack setup it in the correct way and then you can send a goal using the tag position and the code of these tutorials: http://wiki.ros.org/navigation/Tutori...

Let me know if it works

The point is that I have to enable the movement of the robot when its camera recognizes a specific marker. I have to create an algorithm that makes a different path of 3 markers for each position that it has to reach. (comunque sono italiano anch'io, se vuoi parliamo in separata sede)

Try using ar_track_alvar, that node output a message that contains also the id of the landmark so you can check it when performing the path. I don't know which plugin you are using but maybe there is a way to detect the id also with it.

The plugin I'm using gives the markers' id in the child_frame_id section of the TransformStamped message. Now I should map in order to know where every marker is positioned in the warehouse world.