Added fiducial_msgs support (aruco_detect), just connect to /fiducial_transforms input of rtabmap node.

CMakeLists.txt

@@ -28,6 +28,7 @@ find_package(octomap_msgs)
 find_package(apriltag_ros)
 find_package(rviz)
 find_package(find_object_2d)
+find_package(fiducial_msgs)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -293,6 +294,19 @@ SET(Libraries
 ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
 ENDIF(apriltag_ros_FOUND)
 
+# If fiducial_msgs is found, add definition
+IF(fiducial_msgs_FOUND)
+MESSAGE(STATUS "WITH fiducial_msgs")
+include_directories(
+  ${fiducial_msgs_INCLUDE_DIRS}
+)
+SET(Libraries
+  ${fiducial_msgs_LIBRARIES}
+  ${Libraries}
+)
+ADD_DEFINITIONS("-DWITH_FIDUCIAL_MSGS")
+ENDIF(fiducial_msgs_FOUND)
+
 ############################
 ## Declare a cpp library
 ############################