ROS Programming: Building Powerful Robots

Step 5: Building and running example

After building the package using catkin_make, we can run the node using the following command:

• Launch webcam driver:

    $ roslaunch usb_cam usb_cam-test.launch  

• Run the cv_bridge sample node:

    $ rosrun cv_bridge_tutorial_pkg sample_cv_bridge_node  

If everything works fine, we will get two windows, as shown in the following image. The first window shows the raw image and the second is the processed edge detected image.

Figure 6 : Raw image and edge detected image