1 在ROS下常用的主要有两种驱动包:usb_cam和uvc_cam,我这里用的是usb_cam(更多的方法参考:https://blog.csdn.net/wilylcyu/article/details/51732710)
2 usb_cam安装:
在ROS工作空间下采用源码安装:
$ cd catkin_ws/src $ git clone https://github.com/bosch-ros-pkg/usb_cam.git $ cd .. $ catkin_make
其中, catkin_ws是工作空间名
3 运行usb_cam_node开启摄像头
3.1 首先要开启一个终端,开启roscore
3.2 然后开启一个新的终端:
新版本的usb_cam包在launch文件夹下有自带的launch文件，名叫usb_cam-test.launch，我们可以直接cd到这个文件夹下运行它。(我起初直接运行的:rosrun usb_cam usb_cam_node)会出现错误(因为会少一些参数).
$ cd
$ cd catkin_ws/src/usb_cam/launch
$ roslaunch usb_cam-test.launch 所以直接运行launch文件就好.运行成功后可以看一下产生的话题.
/image_view/output
/image_view/parameter_descriptions
/image_view/parameter_updates
/rosout
/rosout_agg
/usb_cam/camera_info
/usb_cam/image_raw
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth
/usb_cam/image_raw/compressedDepth/parameter_descriptions
/usb_cam/image_raw/compressedDepth/parameter_updates
/usb_cam/image_raw/theora
/usb_cam/image_raw/theora/parameter_descriptions
/usb_cam/image_raw/theora/parameter_updates
附:直接运行rosrun usb_cam usb_cam_node出现的错误如下:
