diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..11f750c
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,144 @@
+# Created by https://www.toptal.com/developers/gitignore/api/c++,visualstudiocode,ros2,ros,cmake
+# Edit at https://www.toptal.com/developers/gitignore?templates=c++,visualstudiocode,ros2,ros,cmake
+
+### C++ ###
+# Prerequisites
+*.d
+
+# Compiled Object files
+*.slo
+*.lo
+*.o
+*.obj
+
+# Precompiled Headers
+*.gch
+*.pch
+
+# Compiled Dynamic libraries
+*.so
+*.dylib
+*.dll
+
+# Fortran module files
+*.mod
+*.smod
+
+# Compiled Static libraries
+*.lai
+*.la
+*.a
+*.lib
+
+# Executables
+*.exe
+*.out
+*.app
+
+### CMake ###
+CMakeLists.txt.user
+CMakeCache.txt
+CMakeFiles
+CMakeScripts
+Testing
+Makefile
+cmake_install.cmake
+install_manifest.txt
+compile_commands.json
+CTestTestfile.cmake
+_deps
+
+### CMake Patch ###
+# External projects
+*-prefix/
+
+### ROS ###
+devel/
+logs/
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+
+### ROS2 ###
+install/
+log/
+
+# Ignore generated docs
+
+# eclipse stuff
+
+# qcreator stuff
+
+
+
+# Emacs
+
+# Colcon custom files
+COLCON_IGNORE
+AMENT_IGNORE
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
+
+# End of https://www.toptal.com/developers/gitignore/api/c++,visualstudiocode,ros2,ros,cmake
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100755
index 0000000..b2fe8bb
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,98 @@
+cmake_minimum_required(VERSION 3.5)
+project(aruco_fractal_tracker)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(aruco REQUIRED)
+find_package(OpenCV REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+include_directories(include)
+
+add_library(aruco_fractal_tracker_node SHARED src/aruco_fractal_tracker_node.cpp)
+target_link_libraries(aruco_fractal_tracker_node aruco)
+ament_target_dependencies(aruco_fractal_tracker_node 
+  rclcpp 
+  cv_bridge 
+  geometry_msgs 
+  sensor_msgs 
+  rclcpp_components 
+  aruco 
+  OpenCV
+  tf2
+  tf2_geometry_msgs
+)
+rclcpp_components_register_nodes(aruco_fractal_tracker_node "fractal_tracker::ArucoFractalTracker")
+
+add_executable(aruco_fractal_tracker src/aruco_fractal_tracker_node_main.cpp)
+target_link_libraries(aruco_fractal_tracker aruco_fractal_tracker_node)
+
+install(
+  DIRECTORY include/aruco_fractal_tracker
+  DESTINATION include
+)
+
+install(
+  TARGETS aruco_fractal_tracker_node
+  EXPORT export_aruco_fractal_tracker_node
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
+)
+
+install(
+  TARGETS aruco_fractal_tracker
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_export_libraries(aruco_fractal_tracker_node)
+
+ament_export_dependencies(
+  rclcpp 
+  geometry_msgs 
+  sensor_msgs 
+  rclcpp_components 
+  cv_bridge 
+  aruco
+  OpenCV
+  tf2
+  tf2_geometry_msgs
+)
+
+ament_package()
diff --git a/example_marker/marker.png b/example_marker/marker.png
new file mode 100644
index 0000000..18c2ee1
Binary files /dev/null and b/example_marker/marker.png differ
diff --git a/example_marker/marker_configuration.yaml b/example_marker/marker_configuration.yaml
new file mode 100644
index 0000000..2d9fc14
--- /dev/null
+++ b/example_marker/marker_configuration.yaml
@@ -0,0 +1,38 @@
+%YAML:1.0
+---
+codeid: fractalmarkers
+mInfoType: 2
+fractal_levels: 3
+fractal_external_id: 0
+markers:
+   - { id:0, bits:[ 0, 0, 1, 0, 0, 1, 1, 0, 0, 0, 0, 0, 0, 1, 1, 1, 0, 0,
+       0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 0, 1, 1, 0, 0,
+       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0,
+       0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+       0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+       1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1,
+       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0,
+       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0,
+       0, 0, 0, 0, 0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+       0, 0, 1, 1, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1,
+       1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 1, 0, 0,
+       0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 0, 0,
+       0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
+       0, 0, 0, 0, 1, 0, 0, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1,
+       1, 1, 1, 0, 1, 1, 1, 0, 1, 0, 0, 0, 0, 1, 1, 1, 1, 1, 0, 1 ],
+       corners:[ [ -1., 1., 0. ], [ 1., 1., 0. ], [ 1., -1., 0. ], [ -1.,
+       -1., 0. ] ], submarkers_id:[ 1 ] }
+   - { id:1, bits:[ 0, 1, 0, 1, 1, 1, 0, 1, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1,
+       0, 0, 0, 0, 1, 1, 0, 1, 0, 0, 0, 0, 1, 0, 1, 1, 0, 0, 0, 0, 1, 0,
+       1, 1, 0, 0, 0, 0, 1, 0, 1, 1, 1, 1, 1, 1, 1, 0, 0, 1, 0, 0, 1, 1,
+       0, 1 ], corners:[ [ -6.9999998807907104e-01,
+       6.9999998807907104e-01, 0. ], [ 6.9999998807907104e-01,
+       6.9999998807907104e-01, 0. ], [ 6.9999998807907104e-01,
+       -6.9999998807907104e-01, 0. ], [ -6.9999998807907104e-01,
+       -6.9999998807907104e-01, 0. ] ], submarkers_id:[ 2 ] }
+   - { id:2, bits:[ 1, 1, 0, 1, 0, 1, 0, 0, 0 ], corners:[ [
+       -2.8000000119209290e-01, 2.8000000119209290e-01, 0. ], [
+       2.8000000119209290e-01, 2.8000000119209290e-01, 0. ], [
+       2.8000000119209290e-01, -2.8000000119209290e-01, 0. ], [
+       -2.8000000119209290e-01, -2.8000000119209290e-01, 0. ] ],
+       submarkers_id:[] }
diff --git a/include/aruco_fractal_tracker/aruco_fractal_tracker_node.hpp b/include/aruco_fractal_tracker/aruco_fractal_tracker_node.hpp
new file mode 100755
index 0000000..ca2ddb5
--- /dev/null
+++ b/include/aruco_fractal_tracker/aruco_fractal_tracker_node.hpp
@@ -0,0 +1,34 @@
+#ifndef ARUCO_FRACTAL_TRACKER__ARUCO_FRACTAL_TRACKER_NODE_HPP_
+#define ARUCO_FRACTAL_TRACKER__ARUCO_FRACTAL_TRACKER_NODE_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <sensor_msgs/msg/image.hpp>
+#include <geometry_msgs/msg/pose_stamped.hpp>
+#include <tf2_ros/transform_broadcaster.h>
+
+#include <aruco/fractaldetector.h>
+
+#include <memory>
+
+namespace fractal_tracker
+{
+class ArucoFractalTracker : public rclcpp::Node
+{
+public:
+  explicit ArucoFractalTracker(const rclcpp::NodeOptions& options);
+
+private:  
+  aruco::FractalDetector detector_;
+
+  rclcpp::Subscription<sensor_msgs::msg::Image>::SharedPtr image_sub_;
+
+  rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr image_pub_;
+  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr marker_pose_pub_;
+  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
+
+  void imageCallback(const sensor_msgs::msg::Image::SharedPtr msg);
+
+}; // class ArucoFractalTracker
+}  // namespace fractal_tracker
+#endif  // ARUCO_FRACTAL_TRACKER__ARUCO_FRACTAL_TRACKER_NODE_HPP_
diff --git a/package.xml b/package.xml
new file mode 100755
index 0000000..443ecad
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>aruco_fractal_tracker</name>
+  <version>1.0.0</version>
+  <description>ROS2 package designed to to detect and estimate pose of ArUco fractal markers.</description>
+  <maintainer email="dmitry.anikin@proton.me">Dmitry Anikin</maintainer>
+  <license>GPL-3.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>cv_bridge</depend>
+  <depend>opencv4</depend>
+  <depend>tf2</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>tf2_ros</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/src/aruco_fractal_tracker_node.cpp b/src/aruco_fractal_tracker_node.cpp
new file mode 100755
index 0000000..49172c4
--- /dev/null
+++ b/src/aruco_fractal_tracker_node.cpp
@@ -0,0 +1,173 @@
+#include "aruco_fractal_tracker/aruco_fractal_tracker_node.hpp"
+
+#include <stdexcept>
+#include <string>
+
+#include <cv_bridge/cv_bridge.h>
+#include <opencv2/opencv.hpp>
+
+#include <tf2/LinearMath/Matrix3x3.h>
+#include <tf2/LinearMath/Transform.h>
+#include <tf2/LinearMath/Vector3.h>
+
+namespace fractal_tracker
+{
+ArucoFractalTracker::ArucoFractalTracker(const rclcpp::NodeOptions &options)
+  : Node("aruco_fractal_tracker", options)
+{
+  this->declare_parameter<std::string>("marker_configuration", "");
+  this->declare_parameter<double>("marker_size", 0.0);
+  this->declare_parameter<std::string>("cam_params_file", "");
+
+  auto cam_params_file = this->get_parameter("cam_params_file").get_value<std::string>();
+  aruco::CameraParameters cam_params;
+  cam_params.readFromXMLFile(cam_params_file);
+  if (!cam_params.isValid())
+    throw std::invalid_argument("Invalid camera parameters!");
+
+  image_sub_ = this->create_subscription<sensor_msgs::msg::Image>(
+    "image_input_topic", 10, std::bind(&ArucoFractalTracker::imageCallback, this, std::placeholders::_1));
+
+  image_pub_ = this->create_publisher<sensor_msgs::msg::Image>("image_output_topic", 10);
+
+  marker_pose_pub_ = this->create_publisher<geometry_msgs::msg::PoseStamped>(
+    "poses_output_topic", 10);
+
+  auto marker_configuration = this->get_parameter("marker_configuration").get_value<std::string>();
+  auto marker_size = this->get_parameter("marker_size").get_value<double>();
+  
+  detector_.setConfiguration(marker_configuration);
+  detector_.setParams(cam_params, marker_size);
+
+  tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*this);
+}
+
+void ArucoFractalTracker::imageCallback(const sensor_msgs::msg::Image::SharedPtr msg)
+{
+  cv_bridge::CvImagePtr cv_ptr;
+  cv::Mat gray;
+
+  try 
+  {
+    cv_ptr = cv_bridge::toCvCopy(msg);
+  } 
+  catch (cv_bridge::Exception& e) 
+  {
+    RCLCPP_ERROR_STREAM(this->get_logger(), "cv_bridge exception: " << e.what());
+    return;
+  }
+
+  cv::cvtColor(cv_ptr->image, gray, CV_BGR2GRAY);
+
+  if (detector_.detect(gray))
+  {
+    detector_.drawMarkers(cv_ptr->image);
+    
+    std::vector<aruco::Marker> markers = detector_.getMarkers();
+    for (auto&& marker : markers)
+      marker.draw(cv_ptr->image, cv::Scalar(255, 255, 255), 2);
+
+    detector_.draw2d(cv_ptr->image);
+
+    if (detector_.poseEstimation())
+    {
+      cv::Mat tvec = detector_.getTvec();
+      cv::Mat rvec = detector_.getRvec();
+      detector_.draw3d(cv_ptr->image);
+      
+      cv::Mat rmatrix;
+      cv::Rodrigues(rvec, rmatrix);
+      tf2::Matrix3x3 tf2_rot(rmatrix.at<double>(0, 0), rmatrix.at<double>(0, 1), rmatrix.at<double>(0, 2),
+                             rmatrix.at<double>(1, 0), rmatrix.at<double>(1, 1), rmatrix.at<double>(1, 2),
+                             rmatrix.at<double>(2, 0), rmatrix.at<double>(2, 1), rmatrix.at<double>(2, 2));
+        
+      tf2::Vector3 tf2_translation(tvec.at<double>(0, 0), tvec.at<double>(1, 0), tvec.at<double>(2, 0));
+      tf2::Transform tf2_transform(tf2_rot, tf2_translation);
+      tf2::Quaternion quat;
+      tf2_rot.getRotation(quat);
+
+      geometry_msgs::msg::PoseStamped pose;
+      pose.header.frame_id = msg->header.frame_id;
+      pose.header.stamp = this->get_clock()->now();
+      pose.pose.position.x = tf2_translation.x();
+      pose.pose.position.y = tf2_translation.y();
+      pose.pose.position.z = tf2_translation.z();
+      pose.pose.orientation.x = quat.getX();
+      pose.pose.orientation.y = quat.getY();
+      pose.pose.orientation.z = quat.getZ();
+      pose.pose.orientation.w = quat.getW();
+
+      marker_pose_pub_->publish(pose);
+        
+
+      int base_line = 0;
+      int font_face = cv::FONT_HERSHEY_PLAIN;
+      double font_scale = 1;
+      int thickness = 1;
+      int line_height = cv::getTextSize("W", font_face, font_scale, thickness, &base_line).height + 5;
+
+      cv::Point pos_text_pos(10, 10 + line_height);
+      cv::putText(cv_ptr->image, "POSITION", pos_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, "POSITION", pos_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      pos_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("X=%.2f", tf2_translation.x()), pos_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("X=%.2f", tf2_translation.x()), pos_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      pos_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("Y=%.2f", tf2_translation.y()), pos_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("Y=%.2f", tf2_translation.y()), pos_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      pos_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("Z=%.2f", tf2_translation.z()), pos_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("Z=%.2f", tf2_translation.z()), pos_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+
+      cv::Point ori_text_pos(cv_ptr->image.cols - 150, 10 + line_height);
+      cv::putText(cv_ptr->image, "ORIENTATION", ori_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, "ORIENTATION", ori_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      ori_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("X=%.2f", quat.getX()), ori_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("X=%.2f", quat.getX()), ori_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      ori_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("Y=%.2f", quat.getY()), ori_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("Y=%.2f", quat.getY()), ori_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      ori_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("Z=%.2f", quat.getZ()), ori_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("Z=%.2f", quat.getZ()), ori_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+      ori_text_pos.y += line_height;
+      cv::putText(cv_ptr->image, cv::format("W=%.2f", quat.getW()), ori_text_pos, font_face, font_scale, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+      cv::putText(cv_ptr->image, cv::format("W=%.2f", quat.getW()), ori_text_pos, font_face, font_scale, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+
+      geometry_msgs::msg::TransformStamped transform;
+      transform.header.stamp = this->get_clock()->now();
+      transform.header.frame_id = msg->header.frame_id;
+      transform.child_frame_id = "marker_frame";
+      transform.transform.translation.x = tf2_translation.x();
+      transform.transform.translation.y = tf2_translation.y();
+      transform.transform.translation.z = tf2_translation.z();
+      transform.transform.rotation.x = quat.getX();
+      transform.transform.rotation.y = quat.getY();
+      transform.transform.rotation.z = quat.getZ();
+      transform.transform.rotation.w = quat.getW();
+
+      tf_broadcaster_->sendTransform(transform);
+    }
+  }
+  else
+  {
+    cv::putText(cv_ptr->image, "NOT FOUND", cv::Point(20, 30), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(255, 255, 255), 3, cv::LINE_AA);
+    cv::putText(cv_ptr->image, "NOT FOUND", cv::Point(20, 30), cv::FONT_HERSHEY_PLAIN, 1, cv::Scalar(0, 0, 0), 1, cv::LINE_AA);
+  }
+
+  try 
+  {
+    image_pub_->publish(*cv_ptr->toImageMsg());
+  } 
+  catch (cv_bridge::Exception& e) 
+  {
+    RCLCPP_ERROR_STREAM(this->get_logger(), "cv_bridge exception: " << e.what());
+    return;
+  }
+}
+
+} // namespace ssl
+
+#include "rclcpp_components/register_node_macro.hpp"
+RCLCPP_COMPONENTS_REGISTER_NODE(fractal_tracker::ArucoFractalTracker)
\ No newline at end of file
diff --git a/src/aruco_fractal_tracker_node_main.cpp b/src/aruco_fractal_tracker_node_main.cpp
new file mode 100755
index 0000000..f9be6a0
--- /dev/null
+++ b/src/aruco_fractal_tracker_node_main.cpp
@@ -0,0 +1,12 @@
+#include "aruco_fractal_tracker/aruco_fractal_tracker_node.hpp"
+
+
+int main(int argc, char* argv[])
+{
+  rclcpp::init(argc, argv);
+  rclcpp::NodeOptions options;
+  rclcpp::spin(std::make_shared<fractal_tracker::ArucoFractalTracker>(options));
+  rclcpp::shutdown();
+
+  return 0;
+}
\ No newline at end of file