Code some software for ROBOT witch ROS and Arduino

develop the software code for robot, to integrate with ROS (robot operating system). Now i'm need some code with ros, opencv, kinect and arduino to detected cone transit. 1. Create the bridge with opencv and ros. 2. write te code in opencv to detect transit 3. integrate mpu8050 and arduino with ros. 4 integrate h bridge and arduino with ros. 5 integrate servo with ros. 6. detect cone transit and and create a navegation map with ROS. obs. The robot is for academic purposes just.