usb_cam 相机ROS配置

运行环境：

ubuntu20.04 noetic
usb_cam
宏基暗影骑士笔记本

1.1 usb_cam连接方式：

1）相机usb--电脑usb

1.2 ROS包下载和编译

# 创建工作空间
mkdir -p usb_cam_ws/src

# 克隆仓库
cd usb_cam_ws/src
git clone https://github.com/bosch-ros-pkg/usb_cam.git
sudo apt-get update
sudo apt-get install libv4l-dev

# 编译
cd ..
catkin_make

1.2 运行电脑自带cam

source ./devel/setup.bash
roslaunch usb_cam usb_cam-test.launch

1.3 修改launch文件

1)不插入 usb_cam 编号查询

ls /dev/video*

2)插入 usb_cam 编号查询

ls /dev/video*

电脑自带的是video0和video1，外置相机是video2和video3

所以要运行 usb_cam 需要将video0为video2
修改目录：usb_cam / launch

建议修改ros launch文件如下，代码已贴出

<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="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>

1.4 运行usb_cam

Add–Bytopic–Image–OK

source ./devel/setup.bash
roslaunch usb_cam usb_cam-test.launch

2.1 Rviz显示

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