This repo uses the real sense as a webcam to detect aruco markers. The pose of the detected markers is published. Additionally you can stream the camera and visualize the marker pose in rviz.
install librealsense from official repo, make sure the camera is working
sudo apt-get install libudev-dev pkg-config libgtk-3-dev
git clone https://github.com/IntelRealSense/librealsense
cd librealsense && mkdir build && cd build && cmake .. && sudo make install -j5 && cd .. && sudo cp config/99-realsense-libusb.rules /etc/udev/rules.d/ && sudo udevadm control --reload-rules && udevadm trigger#!/bin/bash
# install librealsense ros package
sudo apt install ros-kinetic-librealsense
# install aruco detect
sudo apt install ros-kinectic-aruco-detect
use this page for marker id generation. You might have to adjust the marker size in the header.