Summary

This chapter was about vision sensors and their programming in ROS. We looked at the interfacing packages that are used to interface the cameras and 3D vision sensors, such as vision_opencv and perception_pcl. We looked at each package and how they function on these stacks. We also looked at how to interface a basic webcam and processing image using ROS cv_bridge. After discussing cv_bridge, we looked at how to interface various 3D vision sensors and laser scanners with ROS. After this, we learned how to process the data from these sensors using the PCL library and ROS. In the next chapter, we will learn how to build an autonomous mobile robot using ROS.

Here are a few questions based on what we covered in this chapter.