USB摄像头在ubuntu16.04 ROS下的使用

在GitHub下载usb_cam

下载链接：https://github.com/ros-drivers/usb_cam
下载后放入ros工作空间中，使用catkin_make编译

运行roslaunch打开摄像头

$ roslaunch usb_cam usb_cam-test.launch

注：
默认是笔记本自带摄像头，如果要调用usb摄像头将launch文件里的value="/dev/video0"改成value="/dev/video1"
看到如下图：

可以使用rqt，或rosrun image_view节点查看图像信息

查看消息信息

$ rostopic list

可以看到如下：

/image_view/output
/image_view/parameter_descriptions
/image_view/parameter_updates
/rosout
/rosout_agg
/usb_cam/camera_info
/usb_cam/image_raw
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth
/usb_cam/image_raw/compressedDepth/parameter_descriptions
/usb_cam/image_raw/compressedDepth/parameter_updates
/usb_cam/image_raw/theora
/usb_cam/image_raw/theora/parameter_descriptions
/usb_cam/image_raw/theora/parameter_updates

查看消息类型：sensor_msgs/Image

$ rostopic type /image_view/output