Hi Jack,

> Blaise, my goal is to avoid adding otherwise unneeded dependencies on
> image_pipeline and (perhaps) image_transport_plugins to the
> camera_drivers stack. If that's not so important, then no test stack
> would be needed.
>
> Which seems better to you?

I would definitely prefer to keep image_pipelines and
image_transport_plugins out of the camera_drivers stack. We did quite
a bit of restructuring during M3, including the creation of the
image_common stack, to make this possible. image_pipeline brings in
opencv, which is a big dependency.

Blaise