In the last chapter, we discussed the interfacing of sensors and actuators using I/O boards in ROS. In this chapter, we are going to discuss how to interface various vision sensors in ROS and program them using libraries such as Open Source Computer Vision (OpenCV) and Point Cloud Library (PCL). The vision of a robot is an important aspect of the robot for manipulating objects and navigation. There are lots of 2D/3D vision sensors available on the market, and most of the sensors have an interface driver package in ROS. We will discuss the interfacing of new vision sensors to ROS and programming them using OpenCV and PCL. Finally, we will discuss the use of fiducial marker libraries to develop vision-based robotic applications.
We will cover the following topics in this chapter:
- Integrating ROS, PCL, and OpenCV
- Using a USB webcam in ROS
- Learning how to calibrate a camera
- Using RGB-D sensors in ROS
- Using laser scanners in ROS
- Working...