visp-ros vs visp integration with ur robot and camera for visual servoing

[shrutichakraborty]

Hello!

I would like to use visp for visual servoing with a ur robot. I am using ros2 drivers for the robot and using a RGB usb camera, although I might potentially be moving to use a realsense for which I will aso use to ros drivers. In this case, I am wondering if someone can suggest the best way to integrate these technologies. Could I install visp from packages, and then integrate into into a cpp node that subscribes an image from the usb camera and then processes it via VISP? I would be using moveit for motion planning, therefore I will have to send the goal positions for visual servoing to moveit. OR in this case would it be more useful to use visp-ros? If so, is there an example for subscribing to image topic and using the image with visp-ros?

Any tips/code examples would be very useful, thank you!