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Hi there Prof. Xavier, you definitely want to check out: Programming Robots with ROS, especially chapter 12: Follow-bot, that is exactly what you are looking for. A robot that follows a yellow line using a camera only, using gazebo for the simulation.

You can even check out their code at:

Some pictures from the project: image description

image description

And the book is a piece of beauty, written by OSRF themselves, check it out! Most of the code is on python, so it's easy to get used to. Good luck!