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I suggest you take a look at the documentation for the vision_opencv stack. Diamondback will include OpenCV 2.2, so that shouldn't be a problem for you.

As far as the differences between OpenCV and ROS image types, the cv_bridge addresses these concerns. Make sure to read the tutorials linked to from the cv_bridge package documentation to learn how to convert ROS images to OpenCV images and vice versa. Because Cturtle and Diamondback have different cv_bridge APIs, you should make sure you have the proper version selected when viewing the tutorials.