我使用ros-indigo和ubuntu 14.04。我用usb_cam从相机获取帧,但现在我不能完成相同的任务。如何在ROS上使用usb_cam节点?
如果我运行rosbuild_ws/package_dir$ roslaunch camera.launch
命令,我得到以下的输出:
Unable to open camera calibration file [/home/user/.ros/camera_info/head_camera.yaml]
[ WARN] [1436602681.552893640]: Camera calibration file /home/user/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1436602681.552918876]: Starting 'head_camera' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[ WARN] [1436602681.584193482]: unknown control 'white_balance_temperature_auto'
[ WARN] [1436602681.587047162]: unknown control 'focus_auto'
处理这些错误&警告,我尝试安装usb_Cam。我跑rosdep install usb_cam
,终端说#All required rosdeps installed successfully
。我使用roscd usb_cam
转到usb_cam文件夹。
然后我运行下面的命令:
/opt/ros/indigo/share/usb_cam$ rosmake usb_cam
No Makefile in package usb_cam
[ rosmake ] Results:
[ rosmake ] Built 39 packages with 0 failures.
[ rosmake ] Summary output to directory
最后,我跑rosbuild_ws/package_dir$ roslaunch camera.launch
,但我得到同样的消息。我无法看到从usb相机拍摄的画面。如何使用usb_cam从usb cam获取帧? camera.launch的
内容:
<!-- This will read a camera and show a streaming feed in a display window. -->
<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="640" />
<param name="image_height" value="480" />
<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>