ROS 使用自带和usb摄像头获取图像

也可以使用安装usb_cam package的流程和上面的uvc_cam几乎一样：

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/bosch-ros-pkg/usb_cam.git
    $ cd ~/catkin_ws
    $ catkin_make  

我外接usb罗技摄像头，如果使用笔记本自带摄像头直接启动usb_cam启动文件即可

直接修改usb_cam包的启动文件usb_cam.launch

修改参数参考官网说明http://wiki.ros.org/usb_cam

笔记本自带的摄像头的设备号一般为/dev/video0    外接摄像头一般是

<param name="video_device" value="/dev/video1" />

~pixel_format (string, default: "mjpeg") Possible values are mjpeg, yuyv, uyvy

我的摄像头这个参数不是默认值

 <param name="pixel_format" value="yuyv" />

<launch>

  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >

   <param name="video_device" value="/dev/video1" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
     <param name="framerate" value="30" />
    <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>

roslaunch usb_cam usb_cam.launch