Run stereo pipeline in ROS

[kliao1]

Context

• We want to run the rosbags through the pipeline and get the output published on a ros topic

TODO

• how to read the ros topics that the rosbags will publish to, into the pipeline
  - this might be a good reference for setting up ROS instructions (https://github.com/MURDriverless/both_cam_acq/blob/87c47ecd349e17cee18c024594209bf7a6f41d7b/mur_stereo_acq_left/src/mur_stereo_basler/src/main.cpp#L124)
• push the images through the pipeline
• make sure that the depth estimation is correct (I'd advise to write some simple test cases and push them to git :) )
• write some code to publish the ros messages to the ros topic that SLAM is listening to (these would be the (x,y,z) coordinates and whatever else your SLAM guy needs)

ROS Topic Format (Output from Stereo Pipeline)

• (x,y,z) coordinates
• time stamp
• colour of cone

You might want to create your own ros message format e.g., https://github.com/MURDriverless/mur_common/blob/master/msg/cone_msg.msg