Use a Camera with ROS and OpenCV in Python - Robotics and Computer Vision in Python and ROS 

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Here is a detailed video tutorial I made on how to integrate a camera (for example, a low-cost web camera), with ROS and OpenCV in Python. I explain how to write publisher and subscriber ROS nodes from scratch and I explain how to use OpenCV in ROS. I also explain how to write a complete catkin package that will integrate the nodes in the ROS stack. The publisher node uses OpenCV to read the camera images and send them through an appropriate topic to the subscriber node. Then, the subscriber node will convert the image back to OpenCV format and show the video. This is proof of principle for transmitting camera information from a low-cost robot and its camera vision system to a processing node that will do object recognition or more advanced OpenCV operations.
We explain how to install web camera drivers in ROS, and we explain how to install OpenCV in Python. We explain how to use OpenCV directly from ROS.

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