ROS kinetic调用笔记本自带的摄像头以及usb连接的摄像头

运行环境：Ubuntu16.04+ros kinetic

1、首先安装usb_cam

在工作空间采用源代码安装，具体代码

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

2、开启摄像头

roslaunch usb_cam usb_cam-test.launch 

usb_cam-test.launch文件：

<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="pixel_format" value="yuyv" />
    <param name="camera_frame_id" value&#