diff --git a/docs/integrations/software/aruco-tracking.mdx b/docs/integrations/software/aruco-tracking.mdx
index 9945e6d7..6c5248c2 100644
--- a/docs/integrations/software/aruco-tracking.mdx
+++ b/docs/integrations/software/aruco-tracking.mdx
@@ -25,10 +25,6 @@ vision to support tasks such as localization, mapping, and navigation. These
 visual markers provide a reliable, easily detectable point of reference that
 helps robots perceive and interpret their environment with precision.
 
-In this example, we will use
-[ros_aruco_opencv](https://github.com/fictionlab/ros_aruco_opencv/tree/jazzy)
-package for detecting individual markers.
-
 As sending raw images from the camera via wireless network may be insufficient,
 we will relay all the processing to the Raspberry Pi.
 
@@ -42,7 +38,8 @@ we will relay all the processing to the Raspberry Pi.
 
 ## What to expect?
 
-After this tutorial is completed, you should end up with something like this:
+After this tutorial is completed, you will be able to detect and visualize ArUco
+tags like this:
 
 <div className="video-container">
   <LiteYouTubeEmbed
@@ -74,7 +71,10 @@ could use the output in your custom nodes.
 
 ## Software integration
 
-### Installing the packages
+### Starting the ArUco tracking
+
+LeoOS comes with the ArUco tag detection packages preinstalled, so you don't
+need to install anything - they just need to be enabled.
 
 Start by logging in into your rover via SSH:
 
@@ -85,86 +85,40 @@ Start by logging in into your rover via SSH:
   terminal using Putty or OpenSSH."
 />
 
-Install `aruco-opencv` package:
+Start ArUco tracking by setting the corresponding environment variable to `true`
+in `/etc/ros/setup.bash`:
 
-```bash
-sudo apt install ros-${ROS_DISTRO}-aruco-opencv
+```bash title="/etc/ros/setup.bash"
+export START_ARUCO_TRACKING=true
 ```
 
-### Creating launch and configuration files
-
-To launch the tracker, you can use the launch file from the installed
-`aruco-opencv` package or you can create your own. In this guide, we will show
-you how to create a launch file which provides basic config for detecting single
-markers.
-
-In `/etc/ros`, create a `yaml` configuration file. This simple example sets the
-basic parameters for the node.
-
-```yaml title="/etc/ros/tracker.yaml"
-/**:
-  ros__parameters:
-    cam_base_topic: camera/image_color
-    output_frame: 'base_link'
+And restart the ROS nodes:
 
-    marker_dict: 4X4_50
-
-    publish_tf: true
-    marker_size: 0.15
-
-    aruco:
-      adaptiveThreshWinSizeMin: 3
-      adaptiveThreshWinSizeMax: 23
-      adaptiveThreshWinSizeStep: 10
+```bash
+ros-nodes-restart
 ```
 
 :::info
 
-You will most likely need to change marker_size parameter depending on the
-actual size of your printed ArUco tag.
+ArUco tracker configuration can be found in `/etc/ros/aruco_tracker.yaml`. By
+default it is configured to track markers from `4X4_50` ArUco dictionary with
+marker side size of 15cm. If you plan to use different sizes or dictionaries for
+your ArUco markers, `/etc/ros/aruco_tracker.yaml` has to be adjusted
+appropriately.
 
-The parameters in `aruco` namespace are dynamic reconfigure parameters - which
-means you can change them as the node is working using `rqt` (in
-`dynamic reconfigure` plugin). You can play with their values and then add
-chosen parameters to the `yaml` file.
+The parameters in the `aruco` namespace can be changed at runtime while the node
+is working - either with `ros2 param set` or using the `rqt_reconfigure` GUI
+tool. Feel free to play around with different configurations and then add the
+chosen parameters to the `/etc/ros/aruco_tracker.yaml` file.
 
 You can find a detailed description of each parameter in the `aruco` namespace
 [here](https://docs.opencv.org/4.6.0/d5/dae/tutorial_aruco_detection.html).
 
 :::
 
-Next, also in `/etc/ros`, create a launch file that will use the previously
-added configuration with the tracker node.
-
-```xml title="/etc/ros/tracker.launch.xml"
-<launch version="0.1.1">
-  <node pkg="aruco_opencv" exec="aruco_tracker_autostart">
-    <param from="/etc/ros/tracker.yaml" />
-  </node>
-</launch>
-```
-
-Now you can run the tracker with this command:
-
-```bash
-ros2 launch /etc/ros/tracker.launch.xml
-```
-
-or you can include your launch file in the `robot.launch.xml` file so that the
-node will start at boot. To do so, put this line somewhere before the closing
-`</launch>` tag.
-
-```xml title="/etc/ros/robot.launch.xml"
-<include file="/etc/ros/tracker.launch.xml"/>
-```
-
-Now you need to reboot the rover, or restart the ros nodes
-
-```bash
-ros-nodes-restart
-```
+## Example usage
 
-## Generate ArUco markers
+### Generating ArUco markers
 
 Now, we need to create some markers, so go back to your computer.
 
@@ -247,17 +201,17 @@ Open RViz by typing `rviz2` in the terminal and set Fixed Frame to `base_link`.
 <ImageZoom
   src="/img/robots/leo/integrations/aruco-tracking/rviz-fixed-frame.webp"
   alt="Setting base_link in RViz"
-  width="1365"
-  height="728"
+  width="1854"
+  height="1010"
 />
 
 Now on the Displays panel click **Add** -> **By display type** and search for
-`TF` and click **Ok**.
+`TF` and click **OK**.
 
 <ImageZoom
   src="/img/robots/leo/integrations/aruco-tracking/rviz-add-tf.webp"
-  width="1362"
-  height="727"
+  width="1853"
+  height="1012"
 />
 
 As there are many TF frames for the rover itself, to make it easier to
@@ -268,8 +222,8 @@ check their boxes to make them appear in RViz.
 
 <ImageZoom
   src="/img/robots/leo/integrations/aruco-tracking/rviz-tf-instructions.webp"
-  width="1364"
-  height="730"
+  width="1854"
+  height="1012"
 />
 
 :::tip
@@ -287,8 +241,8 @@ choose `Image` display. Click it and confirm with **Ok**.
 
 <ImageZoom
   src="/img/robots/leo/integrations/aruco-tracking/rviz-aruco-image.webp"
-  width="1365"
-  height="729"
+  width="1853"
+  height="1006"
 />
 
 Your final setup should look more or less like this:
@@ -296,15 +250,17 @@ Your final setup should look more or less like this:
 <ImageZoom
   src="/img/robots/leo/integrations/aruco-tracking/rviz-setup-final.webp"
   alt="Adding Marker topic to visualization marker in RViz"
-  width="1365"
-  height="729"
+  width="1853"
+  height="1006"
 />
 
-## What next?
+## What's next?
 
-With this tutorial completed you may be wondering what to do next. Our pick
-would be the [ARTag follower](/leo-rover/1.8/leo-examples/follow-artag).
-However, you can check out other examples from leo_examples repository (like
-[line follower](/leo-rover/1.8/leo-examples/line-follower) and
-[object detection](/leo-rover/1.8/leo-examples/object-detection)). You can also
-check out other integrations from our [Integrations site](/integrations).
+After adding ArUco tag detection capabilities to your robot, you might be
+interested in making the Leo Rover follow the markers. For that, you can check
+out the [follow ArUco marker example](/leo-rover/leo-examples/follow-marker).
+You can also check out other examples from leo_examples repository (like
+[line follower](/leo-rover/leo-examples/line-follower) and
+[object detection](/leo-rover/leo-examples/object-detection)). If you are
+looking to add more sensors to your Leo Rover, take a look at our
+[integrations](/integrations).
diff --git a/docs/leo-rover/leo-examples/follow-marker.mdx b/docs/leo-rover/leo-examples/follow-marker.mdx
index da54643e..6b1443db 100644
--- a/docs/leo-rover/leo-examples/follow-marker.mdx
+++ b/docs/leo-rover/leo-examples/follow-marker.mdx
@@ -1,6 +1,6 @@
 ---
-title: 'Leo Rover Example: How to Follow an Aruco Marker'
-sidebar_label: Follow Aruco Marker
+title: 'Leo Rover Example: How to Follow an ArUco Marker'
+sidebar_label: Follow ArUco Marker
 sidebar_position: 1
 keywords:
   - aruco
@@ -13,22 +13,22 @@ keywords:
   - rover
   - tutorial
 description: >-
-  Learn how to make a Leo Rover mobile robot follow a printed Aruco Marker.
+  Learn how to make a Leo Rover mobile robot follow a printed ArUco Marker.
   Print the marker and run the example code to get started.
 image: /img/robots/leo/integrations/follow-aruco-marker/follow-aruco-1.webp
 ---
 
-# Example: How to Follow an Aruco Marker
+# Example: How to Follow an ArUco Marker
 
 import LiteYouTubeEmbed from 'react-lite-youtube-embed';
 
 In this example, we will show you how to make the Leo Rover mobile robot follow
-an Aruco marker.
+an ArUco marker.
 
 ## What to expect?
 
 After completing this tutorial, your rover should be able to follow a printed
-Aruco Marker.
+ArUco Marker.
 
 <div className="video-container">
   <LiteYouTubeEmbed
@@ -53,9 +53,9 @@ Aruco Marker.
 
 ## Mechanical integration
 
-The only physical thing you'll need to do is to print an Aruco marker:
+The only physical thing you'll need to do is to print an ArUco marker:
 
-- You can generate and download an Aruco marker from
+- You can generate and download an ArUco marker from
   [here](https://chev.me/arucogen) (you'll need to select the 4x4 dictionary),
   or you can follow our instructions on generating markers from the tutorial
   linked below. It gives you more control regarding marker size and other
@@ -72,7 +72,7 @@ The only physical thing you'll need to do is to print an Aruco marker:
 - System default configuration expects marker with id 0 and 15cm in size, but
   those parameters can be easily changed for your setup.
 
-Here's an example of our aruco marker that we used for this task:
+Here's an example of our ArUco marker that we used for this task:
 
 <ImageZoom
   src="/img/robots/leo/integrations/follow-aruco-marker/follow-aruco-1.webp"
@@ -109,9 +109,10 @@ then log in using ssh (both covered in prerequisites).
 
 ### Installing using apt
 
-You can install the package using `apt` by typing **on the rover**:
+Update the `apt` and install the package **on the rover**:
 
 ```bash
+sudo apt update
 sudo apt install ros-${ROS_DISTRO}-leo-examples
 ```
 
@@ -143,12 +144,12 @@ rosdep update
 rosdep install --from-paths src -ir
 ```
 
-Then, you need to source the directory and build the packages:
+Then, you need to build the packages and source the workspace:
 
 ```bash
 cd ~/ros_ws
-source install/setup.bash
 colcon build
+source install/setup.bash
 ```
 
 :::info
@@ -161,17 +162,46 @@ installed required software.
 ## Examples
 
 To run the example, you need to be connected to the rover via ssh. Once you do
-this, type in the terminal:
+this, you have to start ArUco tracking by changing the corresponding environment
+variable to `true` in `/etc/ros/setup.bash`:
+
+```bash title="/etc/ros/setup.bash"
+export START_ARUCO_TRACKING=true
+```
+
+And restart the ROS nodes:
+
+```bash
+ros-nodes-restart
+```
+
+After the ArUco tracking is running, you can start the ArUco follower:
 
 ```bash
 ros2 launch leo_example_follow_aruco_marker follow_aruco_marker.launch.xml
 ```
 
-The rover will start following the marker once it detects it.
+Alternatively, you can start a tracker node by passing the argument to
+`follow_aruco_marker.launch.xml`:
+
+```bash
+ros2 launch leo_example_follow_aruco_marker follow_aruco_marker.launch.xml start_aruco_tracker:=true
+```
 
 :::warning
 
-By default the rover follows only the marker with id 0, and has marker tracker
+Use only one method to start the ArUco tracker - either
+`START_ARUCO_TRACKING=true` or the `start_aruco_tracker:=true` launch argument.
+Running both at the same time will prevent the follower from working.
+
+:::
+
+The rover will start following the marker once it detects the ArUco marker with
+a given ID.
+
+:::warning
+
+By default the rover follows only the marker with ID 0, and has marker tracker
 configured for a marker of size 15cm. If your printed marker doesn't comply with
 the requirements, you need to follow the configuration instructions.
 
@@ -238,6 +268,14 @@ marker correctly.<br/> For details on each of those parameters, check the
 
 :::
 
+:::tip
+
+If you started ArUco tracking via `START_ARUCO_TRACKING=true` (rather than the
+`start_aruco_tracker:=true` launch argument), tracker parameter changes can be
+made persistent by editing `/etc/ros/aruco_tracker.yaml` on the rover.
+
+:::
+
 #### Follower
 
 Each parameter of the `aruco_follower` node includes a built-in description -
@@ -249,7 +287,40 @@ rover's movement.
 The remaining parameters control the rover's driving and rotation speeds, as
 well as the distance thresholds that determine when it should move or stop.
 
-## What next?
+#### Using a custom follower parameters file
+
+To reuse your follower parameter settings across runs, create a `yaml`
+configuration file in `/etc/ros` on the rover:
+
+```yaml title="/etc/ros/aruco_follower_params.yaml"
+/**:
+  ros__parameters:
+    follow_id: 3
+    marker_timeout: 1.0
+
+    min_ang_vel: 0.1
+    max_ang_vel: 1.0
+    angle_min: 0.1
+    angle_max: 0.7
+
+    min_lin_vel_forward: 0.1
+    max_lin_vel_forward: 0.4
+    distance_min_forward: 0.7
+    distance_max_forward: 1.2
+
+    min_lin_vel_reverse: 0.1
+    max_lin_vel_reverse: 0.2
+    distance_min_reverse: 0.4
+    distance_max_reverse: 0.5
+```
+
+Then pass it to the launch command using the `params_file` argument:
+
+```bash
+ros2 launch leo_example_follow_aruco_marker follow_aruco_marker.launch.xml params_file:=/etc/ros/aruco_follower_params.yaml
+```
+
+## What's next?
 
 After completing this tutorial, you can try other examples from the leo_examples
 repository ([line follower](line-follower) and
diff --git a/static/img/robots/leo/integrations/aruco-tracking/rviz-add-tf.webp b/static/img/robots/leo/integrations/aruco-tracking/rviz-add-tf.webp
index e5aa614b..2cb587d1 100644
Binary files a/static/img/robots/leo/integrations/aruco-tracking/rviz-add-tf.webp and b/static/img/robots/leo/integrations/aruco-tracking/rviz-add-tf.webp differ
diff --git a/static/img/robots/leo/integrations/aruco-tracking/rviz-aruco-image.webp b/static/img/robots/leo/integrations/aruco-tracking/rviz-aruco-image.webp
index a4880bcc..5e9ef41e 100644
Binary files a/static/img/robots/leo/integrations/aruco-tracking/rviz-aruco-image.webp and b/static/img/robots/leo/integrations/aruco-tracking/rviz-aruco-image.webp differ
diff --git a/static/img/robots/leo/integrations/aruco-tracking/rviz-fixed-frame.webp b/static/img/robots/leo/integrations/aruco-tracking/rviz-fixed-frame.webp
index 71a6757a..d1293ebc 100644
Binary files a/static/img/robots/leo/integrations/aruco-tracking/rviz-fixed-frame.webp and b/static/img/robots/leo/integrations/aruco-tracking/rviz-fixed-frame.webp differ
diff --git a/static/img/robots/leo/integrations/aruco-tracking/rviz-setup-final.webp b/static/img/robots/leo/integrations/aruco-tracking/rviz-setup-final.webp
index b5316a39..e6273531 100644
Binary files a/static/img/robots/leo/integrations/aruco-tracking/rviz-setup-final.webp and b/static/img/robots/leo/integrations/aruco-tracking/rviz-setup-final.webp differ
diff --git a/static/img/robots/leo/integrations/aruco-tracking/rviz-tf-instructions.webp b/static/img/robots/leo/integrations/aruco-tracking/rviz-tf-instructions.webp
index 0bcfc233..9263ba9d 100644
Binary files a/static/img/robots/leo/integrations/aruco-tracking/rviz-tf-instructions.webp and b/static/img/robots/leo/integrations/aruco-tracking/rviz-tf-instructions.webp differ