一、安装Rviz
sudo apt-get install ros-melodic-rviz
rosdep install rviz
rosmake rviz
sudo apt-get install ros-melodic-uvc-camera
sudo apt-get install ros-melodic-image-*
sudo apt-get install ros-melodic-rqt-image-view
开三个终端
roscore
rosrun uvc_camera uvc_camera_node
rviz
然后就可以了
二、查看采集信息
cd ~
mkdir -p catkin_ws/src
cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
cd ~/catkin_ws/src
catkin_create_pkg mbot_gazebo std_msgs rospy roscpp
cd ~/catkin_ws
catkin_make
<launch>
<!-- 设置launch文件的参数 -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- 运行gazebo仿真环境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- 加载机器人模型描述参数 -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" />
<!-- 运行joint_state_publisher节点,发布机器人的关节状态 -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
<!-- 运行robot_state_publisher节点,发布tf -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen" >
<param name="publish_frequency" type="double" value="50.0" />
</node>
<!-- 在gazebo中加载机器人模型-->
<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
args="-urdf -model mrobot -param robot_description"/>
</launch>
cd ~/catkin_ws/src/mbot_gazebo
gedit CMakeLists.txt
gazebo_plugins
gazebo_ros
gazebo_ros_control
cd ~/catkin_ws/src/mbot_gazebo
gedit package.xml
<build_depend>gazebo_plugins</build_depend>
<build_depend>gazebo_ros</build_depend>
<build_depend>gazebo_ros_control</build_depend>
<build_export_depend>gazebo_plugins</build_export_depend>
<build_export_depend>gazebo_ros</build_export_depend>
<build_export_depend>gazebo_ros_control</build_export_depend>
<exec_depend>gazebo_plugins</exec_depend>
<exec_depend>gazebo_ros</exec_depend>
<exec_depend>gazebo_ros_control</exec_depend>
cd ~/catkin_ws
catkin_make
source ~/catkin_ws/devel/setup.bash