## Complete Calibration and Detection Procedure

### Step 1: Setup Configuration Files

1. Create `arena_config.yml` with fixed marker positions:
    ```yaml
    markers:
      - id: 1
        position: [0, 0]
      - id: 2
        position: [0, 1]
      - id: 3
        position: [0, 2]
    ```

2. Create `arena_transformation.yml` with an initial transformation matrix (example identity matrix):
    ```yaml
    transformation_matrix: !!opencv-matrix
       rows: 3
       cols: 3
       dt: d
       data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
    ```

### Step 2: Calibrate the Camera

1. Run the `calibration_webcam` node to capture frames and calibrate the camera:
    ```bash
    rosrun your_package calibration_webcam
    ```

2. Follow the on-screen instructions to capture at least 10 frames of the chessboard pattern from different angles and positions.

3. The calibration parameters will be saved to `camera_parameters.yml`.

### Step 3: Calibrate the Arena

1. Run the `arena_calibration` node to detect ArUco markers and calibrate the arena:
    ```bash
    rosrun your_package arena_calibration
    ```

2. The detected marker positions and transformation matrix will be saved to `arena_config.yml` and `arena_transformation.yml` respectively.

### Step 4: Run the Main Node

1. Run the `aruco_detector` node to detect ArUco markers and display their positions in the arena:
    ```bash
    rosrun your_package aruco_detector
    ```

2. The node will process frames from the camera, detect ArUco markers, and display their positions in the arena frame.

### Additional Information

#### Dependencies

Ensure you have the following dependencies installed:
- ROS
- OpenCV
- yaml-cpp

#### Building the Package

1. Navigate to your catkin workspace:
    ```bash
    cd ~/catkin_ws
    ```

2. Build the package:
    ```bash
    catkin build test
    ```

3. Source the workspace:
    ```bash
    source devel/setup.bash
    ```

#### Running the Nodes

1. Start the ROS master node:
    ```bash
    roscore
    ```

2. In a new terminal, run the desired node as described in the steps above.

#### Troubleshooting

- If the camera is not detected, ensure it is properly connected and recognized by the system.
- If not enough markers are detected, try adjusting the lighting conditions or the camera position.
- Ensure all configuration files (`camera_parameters.yml`, `arena_config.yml`, `arena_transformation.yml`) are correctly formatted and located in the appropriate directory.

#### Example Configuration Files

`camera_parameters.yml`:
```yaml
camera_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [fx, 0, cx, 0, fy, cy, 0, 0, 1]
distortion_coefficients: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [k1, k2, p1, p2, k3]
```

`arena_config.yml`:
```yaml
markers:
  - id: 1
    position: [0, 0]
  - id: 2
    position: [0, 1]
  - id: 3
    position: [0, 2]
```

`arena_transformation.yml`:
```yaml
transformation_matrix: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1, 0, 0, 0, 1, 0, 0, 0, 1]
```