Ubuntu14.04+ROS 启动本地摄像头

Posted 2021-11-10 1228073191blog

STEP1安装usb_cam

创建一个工作空间，make一下

mkdir  -p ~/catkin_ws/src

cd ~/catkin_ws/

catkin_make

 

STEP2下面是安装usb_cam

cd catkin_ws／src

git clone https://github.com/bosch-ros-pkg/usb_cam usb_cam

cd usb_cam

mkdir build

cd build

cmake ..

make

到这个步骤已经安装好usb_cam了，下面可以测试下是否安装成功。

打开一个新的terminal

 

roscore

 

重新打开一个新的terminal，进入~/catkin_ws/src/usb_cam/launch输入下面指令打开摄像头

roslaunch usb_cam-test.launch　

（或者roslaunch usb_cam usb_cam-test.launch  如果出现错误转到下一个步骤的解决方法）

 

出现错误：

ERROR: cannot launch node of type [usb_cam/usb_cam_node]: usb_cam

ROS path [0]=/opt/ros/indigo/share/ros

ROS path [1]=/opt/ros/indigo/share

ROS path [2]=/opt/ros/indigo/stacks

 

 

 

 

 

 

新开一个终端运行：

[email protected]:~/catkin_ws $

rosrun usb_cam usb_cam_node

 

如果出现错误：

 

 

那么运行：

[email protected]:~/catkin_ws $

source devel/setup.bash

 

然后要显示图像的话，运行：

rosrun image_view image_view image:=/usb_cam/image_raw