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You could use the ar_track_alvar to detect the tag and based on the detected ID compute a position to reach based on each tag. Then use the navigation stack to compute a path to follow.

i don't knwo anything about the architecture of your robot but you need also an odometry source (wheel odometry,visual odometry, maybe use the tags to localize ?) and a map of the environment.

This is only a possible solution, there are many alternatives of course :)