ROS入门（六）：图像可视化

一、调用笔记本（或usb）摄像头

参考：https://blog.csdn.net/zbr794866300/article/details/94625696?depth_1-utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2&utm_source=distribute.pc_relevant.none-task-blog-BlogCommendFromBaidu-2

1、安装usb_cam

cd catkin_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git  
cd ..  
catkin_make  

2、运行usb_cam_node

先打开新的终端，运行roscore

roscore

再打开新终端：

cd catkin_ws/src/usb_cam/launch
roslaunch usb_cam-test.launch

注：如果出现错误

ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share

就source一下：

source ~/catkin_ws/devel/setup.bash

然后重新运行launch文件就可以正常弹出摄像头图像窗口；
此时在usb_cam-test.launch文件中，默认用的video0，打开本地摄像头，改成video1，就可以打开外接摄像头（记得重新编译一下）！