ROS 出现[usb_cam-2] process has died错误解决方法

当运行roslaunch robot_vision usb_cam_with_calibration.launch

出现[usb_cam-2] process has died闪退的情况 那是因为你的摄像头配置文件参数不对

你要使用自己的标定生成文件ost.yaml 添加到工作路径下的ros_vision文件夹中并更名为camera_calibration.yaml

image_width: 640
image_height: 488
camera_name: narrow_stereo
camera_matrix:
  rows: 3
  cols: 3
  data: [588.899202, 0.000000, 344.407161, 0.000000, 592.561316, 236.892528, 0.000000, 0.000000, 1.000000]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 5
  data: [-0.033959, 0.002807, 0.004325, 0.008295, 0.000000]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.000000, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000, 0.000000, 0.000000, 1.000000]
projection_matrix:
  rows: 3
  cols: 4
  data: [581.809387, 0.000000, 349.505222, 0.000000, 0.000000, 590.687866, 238.331564, 0.000000, 0.000000, 0.000000, 1.000000, 0.000000]

例如 这就是我的摄像头标定参数，同时也要更改usb_cam_with_calibration.launch文件夹的width，heigh参数为你的摄像头参数

 

<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="488" />
        <param name="pixel_format" value="yuyv" />
        <param name="camera_frame_id" value="usb_cam" />
        <param name="io_method" value="mmap"/>

        <param name="camera_info_url" type="string" value="file://$(find robot_vision)/camera_calibration.yaml" />
    </node>

</launch>

再次运行，就成功了！