Mobile robot You need robot_localization installed in your workspace git clone -b noetic-devel https://github.com/cra-ros-pkg/robot_localization.git You need orb_slam2_ros installed in your workspace git clone https://github.com/appliedAI-Initiative/orb_slam_2_ros.git You need octomap_mapping installed in your workspace git clone -b kinetic-devel https://github.com/OctoMap/octomap_mapping.git You need aruco_detect installed in your workspace git clone https://github.com/UbiquityRobotics/fiducials.git Install all required dependencies. Run it from your catkin folder sh src/cart_robot/install_dependencies.sh Build it catkin build Generate ArUco markers for Gazebo Run it from cart_robot folder sh generate_gazebo_models.sh