On Tue, Feb 15, 2011 at 6:50 AM, Adi Shavit wrote: > Hi, >   I am new to ROS. Welcome! > I have a 4 camera stereo set using 4 synchronized cameras that are not > supported by ROS. > This is not unlike what PR2 uses. > I would like to use these camera with ROS. > What is the best way to do this? That depends on what kind of cameras they are. > Do I need to write my own "driver"? Yes, unless someone has already written one. > That is code that interfaces with the > camera APIs and publishes to ROS? Yes. > In that case, what do I publish? Do I give only raw image output or is there > a way to publish a stereo pair? There are standard ROS ways to publish stereo data. http://www.ros.org/wiki/stereo_image_proc http://www.ros.org/wiki/camera_calibration http://www.ros.org/wiki/image_pipeline > Are there any examples for how to do this, e.g. from some other stereo > cameras? http://www.ros.org/wiki/bumblebee2 http://www.ros.org/wiki/videre_stereo_cam > What is the easiest way to do this? As I said I am new to ROS. The extra ROS wrapping for publishing camera data does not involve much additional code, but does require a basic understanding of the image pipeline. So, study the interfaces and look at examples of other drivers, then ask more questions. --  joq