记录使用ROS驱动USB相机

参考https://blog.csdn.net/weixin_48657767/article/details/126054121?spm=1001.2014.3001.5502

cmake编译时有bug，缺包，安装对应的包

sudo apt-get install ros-melodic（对应ros版本）-****（对应包名，下划线变中线）

sudo apt-get install ros-melodic-camera-info-manager

使用命令启动摄像头

roslaunch usb_cam usb_cam-test.launch

bug：

ERROR: cannot launch node of type [image_view/image_view]: image_view

ROS path [0]=/opt/ros/melodic/share/ros

ROS path [1]=/home/pilot/camera_ws/src

ROS path [2]=/home/pilot/carla-ros-bridge/catkin_ws/src

ROS path [3]=/opt/ros/melodic/share

需要source设置环境变量，然后安装了image-view，参考此篇教程

https://www.cnblogs.com/victorywr/p/15845117.html#:~:text=ERROR%3A%20cannot%20launch%20node%20of%20type%20%5B%26%5D%5B%26image_view%2Fimage_view%5D%3A,image_view%20sudo%20apt-%20get%20install%20ros-kinetic-image-view%20%E9%87%8D%E6%96%B0%E8%BF%90%E8%A1%8Claunch%E6%96%87%E4%BB%B6%E5%B0%B1%E5%8F%AF%E4%BB%A5%E6%AD%A3%E5%B8%B8%E5%BC%B9%E5%87%BA%E6%91%84%E5%83%8F%E5%A4%B4%E5%9B%BE%E5%83%8F%E7%AA%97%E5%8F%A3

修改lauch文件夹下的usb_cam.launch文件中的参数，打开usb相机右侧摄像头

<param name="video_device" value="/dev/video2" />

0：笔记本摄像头；2：外接usb相机（右侧）摄像头；4：受损画质（猜测是摄像头受损）