ROS实验笔记之——在turtlebot3 burger上安装usb camera

将USB摄像头连接在机器人上，如下图所示

然后远程至turtlebot端

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

通过下面命令即可运行

rosrun usb_cam usb_cam_node

远程终端查看图片

 rqt_image_view

创建launch文件

 touch ~/catkin_ws/src/usb_cam/launch/usb_cam.launch

如下

<launch>  
<node name="usb_cam"  pkg="usb_cam" type="usb_cam_node" output="screen">
<param name="video_device" value="/dev/video0"/>
<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>
</launch>

运行下面命令即可

roslaunch usb_cam usb_cam.launch

 

参考资料

https://www.ncnynl.com/archives/201803/2392.html