diff --git a/aruco/ArucoDetector.cpp b/aruco/ArucoDetector.cpp
index 4b84312..966976f 100644
--- a/aruco/ArucoDetector.cpp
+++ b/aruco/ArucoDetector.cpp
@@ -1,6 +1,6 @@
 #include "ArucoDetector.h"
 
-ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, const Team team, const int cameraId, const bool headless) : robotPose(pose), headless(headless), team(team)
+ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, const Team team, const bool headless) : robotPose(pose), headless(headless), team(team)
 {
     // opencv 4.8
     // this->detector = cv::aruco::ArucoDetector(getPredefinedDictionary(cv::aruco::DICT_4X4_50), cv::aruco::DetectorParameters());
@@ -19,19 +19,12 @@ ArucoDetector::ArucoDetector(Type::RobotPose* pose, const std::string& calibrati
     );
     this->readCameraParameters(calibrationPath);
 
-    // this->cap = cv::VideoCapture(cameraId);
     this->cam = new lccv::PiCamera;
     cam->options->video_width=1920;
     cam->options->video_height=1080;
     cam->options->framerate=10;
     cam->options->verbose=true;
 
-/*    if (!cap.isOpened()) {
-        std::cerr << "Error opening camera." << std::endl;
-    } else
-    {
-        started = true;
-    }*/
     started = true;
 
     if (!headless)
diff --git a/aruco/ArucoDetector.h b/aruco/ArucoDetector.h
index 82e6daf..4c1da3b 100644
--- a/aruco/ArucoDetector.h
+++ b/aruco/ArucoDetector.h
@@ -32,7 +32,7 @@ class ArucoDetector {
     bool started = false;
 
 public:
-    ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, Team team, int cameraId = 0, bool headless = false);
+    ArucoDetector(Type::RobotPose* pose, const std::string& calibrationPath, Team team, bool headless = false);
 
     ~ArucoDetector();
 
diff --git a/arucoDetector.cpp b/arucoDetector.cpp
index 0f137ad..7d3a84a 100644
--- a/arucoDetector.cpp
+++ b/arucoDetector.cpp
@@ -25,7 +25,7 @@ int main(int argc, char *argv[])
     {
         if (std::string(argv[i]) == "--help")
         {
-            std::cout << "Usage: " << argv[0] << " <video capture device> <path/to/calibration_results.yaml>" << std::endl;
+            std::cout << "Usage: " << argv[0] << "<path/to/calibration_results.yaml> <TCP port>" << std::endl;
             std::cout << "video capture device: The ID of the video capture device to use. Usually 0 for the built-in camera." << std::endl;
             std::cout << "path/to/calibration_results.yaml: The path to the calibration results file." << std::endl;
             std::cout << "to run the program in headless mode, add the --headless flag." << std::endl;
@@ -40,19 +40,11 @@ int main(int argc, char *argv[])
     }
 
     if (argc < 3) {
-        std::cout << "Usage: " << argv[0] << " <video capture device> <path/to/calibration_results.yaml>" << std::endl;
+        std::cout << "Usage: " << argv[0] << "<path/to/calibration_results.yaml> <port>" << std::endl;
         return 1;
     }
 
-    const int cameraId = std::stoi(argv[1]);
-
-    if (cameraId < 0)
-    {
-        std::cerr << "Error: Camera ID must be a positive integer." << std::endl;
-        return -1;
-    }
-
-    const std::string calibrationPath = argv[2];
+    const std::string calibrationPath = argv[1];
 
     // End argument parser
     std::optional<std::thread> userInput;
@@ -64,7 +56,7 @@ int main(int argc, char *argv[])
 
     auto* robotPose = new Type::RobotPose{cv::Point3f(0, 0, 0), CV_PI/2};
 
-    ArucoDetector detector(robotPose, calibrationPath, BLUE, cameraId, headless);
+    ArucoDetector detector(robotPose, calibrationPath, BLUE, headless);
 
     auto whiteFlower = ArucoTag(36, "White_flower", 20, FLOWER);
     //whiteFlower.setFlowerObjectRepresentation();
@@ -75,7 +67,9 @@ int main(int argc, char *argv[])
 
     int code;
 
-    MyClient client(robotPose, "127.0.0.1", 8080);
+    int port = std::stoi(argv[2]);
+
+    MyClient client(robotPose, "127.0.0.1", port);
 
     client.start();
 
diff --git a/tcp/MyClient.cpp b/tcp/MyClient.cpp
index 18536c0..5946165 100644
--- a/tcp/MyClient.cpp
+++ b/tcp/MyClient.cpp
@@ -12,39 +12,44 @@ MyClient::MyClient(Type::RobotPose* robotPose, const char* ip, const int port) :
 
 void MyClient::handleMessage(const std::string& message)
 {
-    if (startWith(message, "request aruco"))
+    std::vector<std::string> messageSplited = split(message, ";");
+
+    if (messageSplited[0] == "aruco" || messageSplited[0] == "all")
     {
-        std::string res;
-
-        res += "arucotags ";
-
-        if (arucoTags.empty())
+        if (messageSplited[2] == "get aruco")
         {
-            res += "404";
-        } else {
-            for (auto& [tag, pos] : arucoTags)
+            std::string res;
+
+            res += "aruco;strat;get aruco;";
+
+            if (arucoTags.empty())
             {
-
-                res += std::to_string(tag.id) + " ";
-                res += std::to_string(pos.first.at<double>(0, 0)) + " ";
-                res += std::to_string(pos.first.at<double>(1, 0)) + " ";
-                res += std::to_string(pos.first.at<double>(2, 0)) + " ";
+                res += "404";
+            } else {
+                for (auto& [tag, pos] : arucoTags)
+                {
+                    res += std::to_string(tag.id) + ",";
+                    res += tag.name + ",";
+                    res += std::to_string(pos.first.at<double>(0, 0)) + ",";
+                    res += std::to_string(pos.first.at<double>(1, 0)) + ",";
+                    res += std::to_string(pos.first.at<double>(2, 0)) + ",";
+                }
             }
+
+            this->sendMessage(res.c_str());
+        } else if (messageSplited[2] == "ping")
+        {
+            this->sendMessage("pong aruco");
+        } else if (messageSplited[2] == "set robot_pos")
+        {
+            // cut the string with space and take the first, second, third and fourth element
+            std::vector<std::string> tokens = split(message, " ");
+
+            robotPose->position.x = std::stof(tokens[1]);
+            robotPose->position.y = std::stof(tokens[2]);
+            robotPose->position.z = std::stof(tokens[3]);
+            robotPose->theta = std::stof(tokens[4]);
         }
-
-        this->sendMessage(res.c_str());
-    } else if (startWith(message, "ping aruco"))
-    {
-        this->sendMessage("pong aruco");
-    } else if (startWith(message, "robotPose"))
-    {
-        // cut the string with space and take the first, second, third and fourth element
-        std::vector<std::string> tokens = split(message, " ");
-
-        robotPose->position.x = std::stof(tokens[1]);
-        robotPose->position.y = std::stof(tokens[2]);
-        robotPose->position.z = std::stof(tokens[3]);
-        robotPose->theta = std::stof(tokens[4]);
     }
 }