Hello all;

I have a small robot whose CPU to control wheels and webcam is a Raspberry Pi (not the 2 model, the original one) I have tested running a minimal installation of ROS in it, but the CPU is just overloaded. I want to communicate with the RPI from an external laptop using ros bridge, to avoid as much as possible the CPU load.

I do not want to create a web page or any other thing related, I just want to program messages over the sockets with C++ in the RPI to send over the connection the webcam image and receive motion commands to drive the motors.

So, how to send a webcam image with sockets using ros bridge? and motion commands? I can not find any proper documentation for these issues..

Thank you all in advance,

Alberto