ROS Programming: Building Powerful Robots

Step 3: Explanation of the code

Following is the explanation of the complete code:

#include <image_transport/image_transport.h> 

We are using the image_transport package in this code for publishing and subscribing to image in ROS.

#include <cv_bridge/cv_bridge.h> 
#include <sensor_msgs/image_encodings.h> 

This header includes the CvBridge class and image encoding related functions in the code.

#include <opencv2/imgproc/imgproc.hpp> 
#include <opencv2/highgui/highgui.hpp> 

These are main OpenCV image processing module and GUI modules which provide image processing and GUI APIs in our code.

 image_transport::ImageTransport it_; public: Edge_Detector() : it_(nh_) { // Subscribe to input video feed and publish output video feed image_sub_ ...