Welcome to Transbot SE repository

8. ROS+Opencv foundation

This lesson uses a USB camera as an example.

8.1. Overview

Wiki: http://wiki.ros.org/cv_bridge/

Tutorials: http://wiki.ros.org/cv_bridge/Tutorials

Source code: https://github.com/ros-perception/vision_opencv.git

Function package location: ~/transbot_ws/src/transbot_visual

ROS has already integrated Opencv3.0 and above during the installation process, so there is almost no need to think too much about the installation configuration. ROS uses its own sensor_msgs/Image message format transfers images and cannot directly perform image processing, but the provided [CvBridge] can perfectly convert and be converted image data formats. [CvBridge] is a ROS library, equivalent to the bridge between ROS and Opencv.

Opencv and ROS image data conversion is shown in the figure below:

Although the installation configuration does not require too much consideration, the usage environment still needs to be configured, mainly the two files [package.xml] and [CMakeLists.txt]. This function package not only uses [CvBridge], but also requires [Opencv] and [PCL], so they are configured together.

• package.xml

Add the following content

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 AR QR code
ROS+Opencv application