Hi, i have a 7-DOF robot arm Schunk Powercube and i want to do image based visual servoing with visp ros package. Firstly i plan to use eye-in-hand configuration to track a motionless 4-point marker, i think it's easier than eye-to-hand. Afterwards if this task is finished seccessfully i'd like to move on to eye-to-hand. For the first task, where should i start, i only find some basic tutorials on VISP website. Could someone give me some idea? My system: ROS Hydro+ubuntu 12.04.

Thanks in advance.