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I'm also working with Arucos I'm using the ar_sys package.

In simulation when you use gazebo you don't need to calibrate the camera, because all the camera matrix goes in the camera_info messages. But if you work with a real camera you will have to calibrate the camera.

You will have to define the size of the arucos, if you don't tell the size the program will detect the arucos but it wil give the wrong results. Like the real distance is 5meters it will tell you some other value.