Starting Guide for OpenCV with ROS in Indigo

asked 2016-11-17 16:33:34 -0600

rmrafferty gravatar image

Hello all,

Could I please get some help with setting up OpenCV with ROS for ROS Indigo on Ubuntu 14.04?

I've been searching and making attempts for awhile, but it seems that I'm too much of a novice at this aspect and or that there is extra difficulty to do this on Indigo that I can't get it running on my own.

My goal is to make a vision pipeline, have an image topic received, be editable by OpenCV, and then published back out. How can I best do this for my setup? This seems to be a basic goal to have from what research I have done.

My Attempts

I tried to follow this guide for Ubuntu 12.04 and ROS Fuerte. ( ) It has the exact functionality I'm looking for and looked very simple to do. However adapting this to Indigo it was no longer as simple as it seemed.

I've had the following issues:

  • Left out OpenCV dependency since it is not available in ROS Indigo and may be available just from cv_bridge from what other posts I've seen, such as Stefan Kohlbrecher's post at

-This left me unable to build c++ files with dependencies on OpenCV functions

  • I tried installing OpenCV 3.0 to use instead. It worked and can be used normally.

-Even when editing my manifest.xml and CMakeLists.txt to try and locate OpenCV, the builds still failed due to being unable to find my c++ file indicated (This was my attempt at following the post by "mehdi" in this post : )

How can I get started with this OpenCV and ROS with this setup? There seem to be a lot of themes about issues and work-arounds that must be done, but I haven't been able to figure it out.

I'm required to use Ubuntu 14.04 and ROS Indigo due to another system I am integrating this vision pipeline with, but I can use any OpenCV version that is acceptable at this point.

Thanks a lot for the help, especially if this really is a novice question!

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