ROS 使用自带和usb摄像头获取图像

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本文介绍如何在ROS环境下配置USB摄像头，包括安装必要的软件包、设置摄像头参数及启动配置。适用于希望快速上手ROS摄像头应用的开发者。

如果是LINUX移植，Make sure you've installed the ros-indigo-camera-info-manager package.

ERROR: cannot launch node of type [image_view/image_view]: image_view
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/ubuntu/catkin_ws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

这种情况要装image-view

sudo apt-get install ros-indigo-image-view

也可以使用安装usb_cam package的流程和上面的uvc_cam几乎一样：

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

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

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

我外接usb罗技摄像头，如果使用笔记本自带摄像头直接启动usb_cam启动文件即可

直接修改usb_cam包的启动文件usb_cam.launch

修改参数参考官网说明http://wiki.ros.org/usb_cam

笔记本自带的摄像头的设备号一般为/dev/video0 外接摄像头一般是

<param name="video_device"value="/dev/video1"/><br><br>

~pixel_format (string, default:"mjpeg")Possible values are mjpeg, yuyv, uyvy

我的摄像头这个参数不是默认值

<param name="pixel_format"value="yuyv"/>

<launch>
     
   
  <node name="usb_cam"pkg="usb_cam"type="usb_cam_node"output="screen">
   
   <param name="video_device"value="/dev/video1"/>
    <param name="image_width"value="640"/>
    <param name="image_height"value="480"/>
     <param name="framerate"value="30"/>
    <param name="pixel_format"value="yuyv"/>
    <param name="camera_frame_id"value="usb_cam"/>
    <param name="io_method"value="mmap"/>
  </node>
  <node name="image_view"pkg="image_view"type="image_view"respawn="false"
output="screen">
    <remap from="image"to="/usb_cam/image_raw"/>
    <param name="autosize"value="true"/>
  </node>
</launch>