Figure 4

ROS diagram. Black squares are ROS nodes running on desktop computer, green squares are the four Raspberries Pi and blue squares are ROS nodes running on Raspberries Pi. Macroprocessing_Node implements the macroimage processing, macrotracking and state machine. Microimage_Node implements both microimage processing, microtracking and microimage focus (by changing Z axe). The nodes: cam_1_Micro_Node, cam_2_Micro_Node and cam_1_Macro_Node, execute the camera driver, take the image and publish the images into /microImage_1, /microImage_2 and /macroImage_1 respectively.