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You need to give the <uri> to the materials/scripts and materials/textures directory of your model, so that the material with the given <name> is read and the texture file is found. i.e.

    <material>
      <script>
        <uri>model://aruco_marker/materials/scripts/</uri>
        <uri>model://aruco_marker/materials/textures/</uri>
        <name>ArucoMarker/Image</name>
      </script>
    </material>

See this model from gazebo as an example http://models.gazebosim.org/pine_tree/