usb_cam

使用ROS的usb_cam包 §

准备工作：测试设备 §

• 使用VLC进行测试 安装VLC： sudo apt install vlc 运行后点击Media->Open Capture Device，在Capture Device界面的Video device name中选择相机，如/dev/video0，Audio device name留空，Video standard保留默认的Undefined，然后点击Play

配置 §

• 安装 sudo apt-get install ros-$ROS_DISTRO-usb-cam

• 测试 rosrun usb_cam usb_cam_node 图像将被发送至/usb_cam/image_raw

• 通过Launch启动摄像头

  <launch>
    <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
      <param name="video_device" value="/dev/video0" />
      <param name="image_width" value="1280" />
      <param name="image_height" value="720" />
      <param name="pixel_format" value="yuyv" />
      <param name="framerate" value="30" />
      <param name="autofocus" value="false" />
      <param name="focus" value="0" />    
      <param name="contrast" value="32" />
      <param name="brightness" value="32" />
      <param name="saturation" value="32" />
      <param name="sharpness" value="22" />
      <param name="focus" value="0" />    
      <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>
   

其它 §

• 备注

  head_camera is the frame_id being published by the camera_info topic of usb_cam by default. Even though the name is specified, it doesn’t exist until you define it.