Hi,

  I am new to ROS. 
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?
  1. Do I need to write my own "driver"? That is code that interfaces with the camera APIs and publishes to ROS?
  2. In that case, what do I publish? Do I give only raw image output or is there a way to publish a stereo pair?
  3. Are there any examples for how to do this, e.g. from some other stereo cameras?
  4. What is the easiest way to do this? As I said I am new to ROS.
Thanks,
Adi