[ros-users] Adding a New Stereo System to ROS

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