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Effective Robotics Programming with ROS - Third Edition by Aaron Martinez, Enrique Fernández, Luis Sánchez, Anil Mahtani

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Image visualization

In ROS, we have a node that enables you to display images coming from a camera on-the-fly. This is an example of a topic with complex data, which is better visualized or analyzed with special tools. You only need a camera to do this, such as your laptop webcam. The example8 node implements a basic camera capture program using OpenCV and ROS bindings to convert cv::Mat images into ROS Image messages that can be published in a topic. This node publishes the camera frames in the /camera topic.

We are only going to run the node with a launch file created to do so. The code inside the node is still new for the reader, but in the followings chapters we will cover how to work with cameras and images in ROS, so we will be able to come ...

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