How to publish left and right images of MY stereo camera over ROS?

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Hi,

I think the first steps to know how to publish images in ROS is through rostopics of type sensor_msgs/Image.

A very good example is how the gazebo_ros_camera plugin does it.

Check the git of how this is implemented to have a good example on how to publish camera info in ROS : camera plugin

You then have to check if its working. Here are several options, each one more complete: 1) rostopic hz /camera_topic_name: This is the simplest. It states if its publishing and at what rate. Good to know if its alive at least 2) rostopic echo /camera_topic: To gete a stream of data. Not very practical with big image files 3) RVIZ: add an image element. It will show you the images registered by your camera. 4) RVIZ: add a camera element. This element is the best because it needs TFs to be published correctly, which is vital for working with cameras in ROS.

5) You can use the stereo_image_proc to see if your stereo cam can be used for stereo vision point cloud generation. This is the final test, if it works, you are ready to go.

I also created a small video tutorial that explains all this in a demo VIDEO

Here is the code for the practical example GIT

And here the ROSject , which you can use plug and play.

Hope it helped.