This chapter was about vision sensors and its programming in ROS. We saw the interfacing packages to interface the cameras and 3D vision sensors such as vision_opencv and perception_pcl. We looked at each package and its functions on these stacks. We saw interfacing of basic webcam and processing image using ROS cv_bridge. After discussing cv_bridge, we looked at the interfacing of various 3D vision sensors and laser scanners with ROS. After interfacing, we learned how to process the data from these sensors using PCL library and ROS. At the end of the chapter, we understood how to stream a camera from an embedded device called Odroid to the PC. In the next chapter, we will see the interfacing of robotic hardware in ROS.