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You're reading from Mastering ROS for Robotics Programming Design, build, and simulate complex robots using the Robot Operating System

Product type Paperback

Published in Feb 2018

Publisher Packt

ISBN-13 9781788478953

Length 580 pages

Edition 2nd Edition

Languages

C++

Tools

ROS

Concepts

Design

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Table of Contents (17) Chapters

Preface

1. Introduction to ROS FREE CHAPTER

2. Getting Started with ROS Programming

3. Working with 3D Robot Modeling in ROS

4. Simulating Robots Using ROS and Gazebo

5. Simulating Robots Using ROS and V-REP

6. Using the ROS MoveIt! and Navigation Stack

7. Working with pluginlib, Nodelets, and Gazebo Plugins

8. Writing ROS Controllers and Visualization Plugins

9. Interfacing I/O Boards, Sensors, and Actuators to ROS

10. Programming Vision Sensors Using ROS, Open CV, and PCL

11. Building and Interfacing Differential Drive Mobile Robot Hardware in ROS

12. Exploring the Advanced Capabilities of ROS-MoveIt!

13. Using ROS in MATLAB and Simulink

14. ROS for Industrial Robots

15. Troubleshooting and Best Practices in ROS

16. Other Books You May Enjoy

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Understanding ROS – OpenCV interfacing packages

OpenCV is one of the popular open source real-time computer vision libraries, which is mainly written in C/C++. OpenCV comes with a BSD license, and is free both for academic and commercial applications. OpenCV can be programmed using C/C++, Python, and Java, and it has multi-platform support, such as Windows, Linux, macOS X, Android, and iOS. OpenCV has tons of computer vision APIs that can be used for implementing computer vision applications. The web page of OpenCV library can be found at http://opencv.org/.

The OpenCV library is interfaced to ROS via a ROS stack, called vision_opencv. vision_opencv consists of two important packages for interfacing OpenCV to ROS. They are:

cv_bridge: The cv_bridge package contains a library that provides APIs for converting the OpenCV image data type, cv::Mat, to the ROS image message called sensor_msgs/Image and vice versa. In short, it can act as a bridge between OpenCV and ROS. We can use OpenCV APIs to...