Mastering ROS for Robotics Programming - Second Edition

Programming Vision Sensors Using ROS, Open CV, and PCL

In the last chapter, we discussed the interfacing of sensors and actuators using I/O boards in ROS. In this chapter, we are going to discuss how to interface various vision sensors in ROS and program them using libraries such as Open Source Computer Vision (OpenCV) and Point Cloud Library (PCL). The vision of a robot is an important aspect of the robot for manipulating objects and navigation. There are lots of 2D/3D vision sensors available on the market, and most of the sensors have an interface driver package in ROS. We will discuss the interfacing of new vision sensors to ROS and programming them using OpenCV and PCL. Finally, we will discuss the use of fiducial marker libraries to ...