一、工控机查看USB下设备编号,便于写机器人工控机配置文件
nvidia@tegra-ubuntu:~$ lsusb
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 005: ID 17ef:6018 Lenovo
Bus 003 Device 004: ID 18f8:0f99
Bus 003 Device 003: ID 1a40:0101 Terminus Technology Inc. Hub
Bus 003 Device 002: ID 0483:5740 STMicroelectronics STM32F407
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 003: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x UART Bridge / myAVR mySmartUSB light
Bus 001 Device 002: ID 2949:8247
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
二、在工控机中打开/etc/udev/rules.d/roborts.rules文件,
KERNEL=="ttyACM*", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", MODE:="0777", SYMLINK+="serial_sdk"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE:="0777", SYMLINK+="rplidar"
SUBSYSTEM=="usb", KERNEL=="3-2", ATTR{idVendor}=="1908", ATTR{idProduct}=="2310", SYMLINK+="camera"
~
三、程序包:~/roborts_ws/src/roborts_camera
输出
/camera_name/camera_info (sensor_msgs/CameraInfo)
相机参数信息
/camera_name/image_raw (sensor_msgs/Image)
相机原生图像数据
编译运行
在ROS的工作区内编译
catkin_make -j4 roborts_camera_node
运行
启动相机节点
rosrun roborts_camera roborts_camera_node
开启rqt测试发布图像
rqt_image_view
四、在rviz中配置添加image标签,添加camera标签,视频传输不过来
摄像头显示 No Image 因为摄像头被王冉借走了,在工控机端和笔记本端的rviz都可以显示图像,只不过计算机端有延时