Summary

This chapter was about vision sensors and their programming in ROS. We saw the interfacing packages used 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 looked at the interfacing of a 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 the PCL library and ROS. Finally, in the last part of the chapter, we showed how to use fiducial markers to easily perform object pose estimation and localization. In the next chapter, we will look at the interfacing of robotic hardware in ROS.