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You need to determine a 3D position from your 2D image to send a meaningful command. This is an active field of research. The most common simplification is to attach a 2D marker of some sort and reconstruct its 3D pose with a package like aruco_ros. There is a tutorial.

You can also google with keywords like "visual servoing" and send relative movement commands to your robot, but the libraries probably won't be as plug-and-play.

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