In the last chapter, we discussed interfacing of sensors and actuators using I/O board in ROS. In this chapter, we are going to discuss how to interface various vision sensors in ROS and program it using libraries such as OpenCV (Open Source Computer Vision) and PCL (Point Cloud Library). The vision in a robot is an important aspect of the robot for manipulating object and navigation. There are lots of 2D/3D vision sensors available in the market and most of the sensors have an interface driver package in ROS. We will discuss interfacing of new vision sensors to ROS and programming it using OpenCV and PCL.
We will cover the following topics in this chapter:
- Understanding ROS-OpenCV interfacing packages
- Understanding ROS-PCL interfacing packages
- Installing OpenCV and PCL interfaces in ROS
- Interfacing USB webcams in ROS
- Working with ROS camera calibration
- Converting images between ROS and OpenCV using cv_bridge
- Displaying images from webcam using OpenCV and cv_bridge
- Interfacing Kinect and Asus Xtion Pro in ROS
- Interfacing Intel Real Sense Camera in ROS
- Working with the ROS depthimage_to_laserscan package
- Interfacing Hokuyo Laser in ROS
- Interfacing Velodyne in ROS
- Programming using PCL-ROS interface
- Streaming webcam from Odroid using ROS