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This is a bit of but for anyone who's googling doing this at the moment. I've just setup a ROS system using a GoPro hero 3. It's not the cheapest but I'm using an external HDMI capture dongle to convert the live HDMI stream into a video4linux compatible camera feed.

http://www.magewell.com/usb-capture-hdmi This is the capture device I'm running, it works with linux out of the box and is pretty small so it'll tuck into a robot quite easily.

This setup gives me by far the best image quality I've ever seen for a (slightly over the top) USB web-cam.

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