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Start with ROS tutorials: https://wiki.ros.org/ROS/Tutorials

Then take a look at OpenCV tutorials:

  • https://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_tutorials.html
  • https://docs.opencv.org/3.4.0/d9/df8/tutorial_root.html

General guidelines:

  • Get the image from the camera and display it in RViz
  • Set up a package that uses OpenCV to process the image
  • Find the right processing for OpenCV that will allow you to detect the line
  • Find a way to transform the output of your OpenCV algorithm into robot movements
  • Make the robot move given the output of the OpenCV processing