ROS 摄像头使用

1、安装rbx1包

创建一个工作空间，这里以catkin_ws 为例，下载并编译rbx1安装包：

$ cd ~/catkin_ws/src 
$ git clone https://github.com/ncnynl/rbx1.git
$ cd ~/catkin_ws
$ catkin_make

2、安装usb_cam驱动

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

目前新版本的rbx1已经带有usb_cam，如果没有添加如下。
在catkin_ws/src/rbx1/rbx1_vision/launch目录，新建usb_cam.launch

$ cd ~/catkin_ws/src/rbx1/rbx1_vision/launch
$ touch usb_cam.launch
$ vim usb_cam.launch

代码如下：

<launch>
    <arg name="video_device" default="/dev/video0" />

    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" clear_params="true" output="screen">

        <remap from="usb_cam/image_raw" to="/camera/rgb/image_raw" />
        <remap from="usb_cam/camera_info" to="/camera/rgb/camera_info" />

        <param name="video_device" value="$(arg video_device)" />
        <param name="image_width" value="640" />
        <param name="image_height" value="480" />
        <param name="framerate" value="30" />
        <param name="pixel_format" value="mjpeg" />
        <param name="contrast" value="32" />
        <param name="brightness" value="32" />
        <param name="saturation" value="32" />
        <param name="autofocus" value="true" />
        <param name="camera_frame_id" value="camera_link" />

    </node>
</launch>

3、测试使用

• 启动roscore

$ roscore

• 启动rbx1

$ roslaunch rbx1_vision usb_cam.launch video_device:=/dev/video0 

• 查看图像

$ rosrun rqt_image_view rqt_image_view

• 查看相机相关发布的话题

$ rostopic list

显示如下：

/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/rosout
/rosout_agg

测试完毕。

小Tips：查看连接的可用设备

4、参考资料

ROS与深度相机入门教程-在ROS使用webcam摄像头(内置或外置)