ROS 使用自带和usb摄像头获取图像

   如果是LINUX移植，Make sure you've installed the ros-indigo-camera-info-manager package. 

ERROR: cannot launch node of type [image_view/image_view]: image_view
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/ubuntu/catkin_ws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks

这种情况要装image-view

 sudo apt-get install ros-indigo-image-view

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  

 

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

$ cd
$ cd catkin_ws/src/usb_cam/launch
$ roslaunch usb_cam-test.launch

 

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

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

~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

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

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<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>

 

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roslaunch usb_cam usb_cam.launch