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Detecting AR tags

Hi, I'm new to ROS and I am trying to make a Pioneer 2 robot move through different points on a map. The first thing I need to do is to place AR tags on the floor and, using a USB/Wireless camera, being able to detect their coordinates so I can make my robot travel. I have found some packages such as uvc_camera and ar_track_alvar but couldn't figure out how to write a code to make this happen. Does anyone have some code examples so I can figure this out and move on? Thank you