1 在ROS下常用的主要有兩種驅動包:usb_cam和uvc_cam,我這裡用的是usb_cam(更多的方法參考:https://blog.csdn.net/wilylcyu/article/details/51732710)

2 usb_cam安裝:

在ROS工作空間下采用原始碼安裝:

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

其中, catkin_ws是工作空間名

3 執行usb_cam_node開啟攝像頭

3.1 首先要開啟一個終端,開啟roscore

3.2 然後開啟一個新的終端:

新版本的usb_cam包在launch資料夾下有自帶的launch檔案，名叫usb_cam-test.launch，我們可以直接cd到這個資料夾下執行它。(我起初直接執行的:rosrun usb_cam usb_cam_node)會出現錯誤(因為會少一些引數).

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

所以直接執行launch檔案就好.執行成功後可以看一下產生的話題.

/image_view/output
/image_view/parameter_descriptions
/image_view/parameter_updates
/rosout
/rosout_agg
/usb_cam/camera_info
/usb_cam/image_raw
/usb_cam/image_raw/compressed
/usb_cam/image_raw/compressed/parameter_descriptions
/usb_cam/image_raw/compressed/parameter_updates
/usb_cam/image_raw/compressedDepth
/usb_cam/image_raw/compressedDepth/parameter_descriptions
/usb_cam/image_raw/compressedDepth/parameter_updates
/usb_cam/image_raw/theora
/usb_cam/image_raw/theora/parameter_descriptions

/usb_cam/image_raw/theora/parameter_updates

附:直接執行rosrun usb_cam usb_cam_node出現的錯誤如下: