一,mkdir ~/catkin/src
cd …
catkin_make
source /devel/setup.bash
cd src
git clone https://github.com/ros-perception/image_pipeline
sudo apt-get install ros-(ros版本号)-usb-cam
cd …
catkin_make
roslaunch usb_cam usb_cam-test.launch
ctri+alt+t 打开另一个终端
rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.028 image:=/usb_cam/image_raw camera:=/usb_cam