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=====Running Opencv using ROS=====

**Author:** <Brandon Seo> Email: <hyunduck1024@gmail.com> <!-- replace with your email address -->
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**Date:** Last modified on <08/19/19>
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**Keywords:** <Ros, Tutorial, CMakeLists, step-by-step>
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===== Motivation and Audience =====

This tutorials motivation is to practice basic autonomous system using ROS. Readers of this tutorial assumes the reader has the following background and interests: 


==== Parts List and Sources ====
To complete this tutorial, you'll need the following items 
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 * For Robot Operating System installation, use the following link. ROS-kinetic kame is used [[http://wiki.ros.org/ROS/Installation|ROS.org]]
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 you should download Mellodic 
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{{:melodic.png?400|}}
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==== Software Construction ====
To run this tutorial. The following should be completed
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*How to use Linux?  I know you've been working on Windows process so far. But ROS optimizes Linux more than Windows.
\\ you need to know how to build using Linux. [[http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/library_setup/cpp_linux/#cpp-linux|library set up C++ linux]]
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*ROS Tutorial                [[http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment]]
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**Step 1**
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ROS had already Opencv3.0, but there's some limitations.
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So, you need to delete the exist github and intall a new Opencv 4.0.1
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you should be careful about this. 
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If you do something wrong,
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you could end up being deleted everything.
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Follow this [[https://webnautes.tistory.com/1186| Opencv Update]]
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If you succeed to follow this, it would show like this.
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{{:opencv_update.png?300|}}
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**Step 2**
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Make your own package to run the example code of Opencv.
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**Step 3**
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you put the link_directories and target_link_libraries in CMakeLists.
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{{:opencvlibraries.png?500|}}
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This is my cmakelist {{:opecv_cmake.docx|}}   
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**Step 4**
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Modify the example code to detect the object.
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If you just bring your sourcefile based on Windows, you may add headerfile and change some codes.
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Because this all steps are based on Linux.
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==== Final Words ====

This tutorial's objective was to build the Opencv code on ROS. Once the concepts were conveyed the reader could combine Dynamixel and Opencv.
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For questions, clarifications, etc, Email: <hyunduck1024@gamil.com>