visp_bridge

visp_bridge is a small interface between the ViSP library and ROS. For instance it converts between the different data types used by each library.

To date, the supported functionnality sums up to:

• ViSP vpImage / ROS sensor_msgs::Image conversion
• ViSP vpCameraParameter / ROS sensor_msgs::CameraInfo conversion
• ViSP vpHomogeneousMatrix / ROS geometry_msgs::Transform conversion
• ViSP vpHomogeneousMatrix / ROS geometry_msgs::Pose conversion

Setup

This package can be compiled like any other catkin package using catkin_make. In that case you have to consider the indigo-devel branch.

Prerequisities

First you need to install ViSP as a system dependency. This can be achived using ros-indigo-visp package available for Ubuntu. Just run:

$ sudo apt-get install ros-indigo-visp

If the package is not available (this is for example the case for Fedora) or if you want to use a more recent version of ViSP, you can also install ViSP from source:

$ cd ~
$ svn checkout svn://scm.gforge.inria.fr/svn/visp/trunk/ViSP
$ cd ViSP
$ cmake -DBUILD_SHARED_LIBS=ON .
$ make -j8

Then to use this version you have to setup VISP_DIR environment variable to the folder that contains the build. In ou case it becomes:

$ export VISP_DIR=~/ViSP

How to get and build visp_bridge

Supposed you have a catkin work space just run:

$ cd ~/catkin_ws/src 
$ git clone -b indigo-devel https://github.com/lagadic/vision_visp.git
$ cd ..
$ catkin_make --pkg visp_bridge

Documentation

• [Project webpage on ros.org] ros-homepage
• [Project webpage: source code download, bug report] github-homepage
• API documentation