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ros-jade-opencv3 is a packaged version of OpenCV3 as the last one is still not included into main distro repositories. This ROS package does provide modules from the opencv_contrib repository (aruco is a contrib module) so you should be fine with it. As for the link problem, make shure that you link your executable with OpenCV libraries, you'll need something like

find_package(OpenCV REQUIRED)
# and later on
target_link_libraries(<your executable> ... ${OpenCV_LIBS})