shifting existing sorce code to ros
I have not used ROS before and have gone through beginner tutorials on ROS. I want to create two nodes: one on the robot's processor and one on a remote computer connected on the same network. In SSH, I am not able to see the camera feed from the robot, and Remote Desktop lags. So I need a balance between the two situations wherein I can rely on the fast SSH for sending commands and ROS for publishing camera feed.
I have my source code that I want to shift to ROS not entirely but just the part where I am able to publish the camera feed. After going through the wiki I yet didn't figure out how am I supposed to go about it. eg. Should I create a catkin workspace with roscpp etc. and shift the existing folder to src. Then use $catkin_make for compiling files with ROS headers included and $make for compiling the rest of the repository.
The source code is in C++ and both the Robot's processor and the remote computer work on Ubuntu 14.04.2
