ubuntu各种版本上测试usb摄像头（支持单目摄像头、乐视、realsense等）是否正常工作
2024-05-26 00:02:53
一.硬件要求：
①ubuntu20.04（ubuntu18.04的话，需要把下面出现的noetic改为melodic；ubuntu16.04的话，需要把下面出现的noetic改为kinetic；）
②ROS版本：noetic
③任意USB摄像头（我这里用的是乐视三合一体感摄像头）
二.安装使用
2.1 ubuntu20.04 ros为noetic版本
①下载usb_cam软件包
sudo apt install ros-noetic-usb-cam
//（ubuntu18.04的话，需要把下面出现的noetic改为melodic；ubuntu16.04的话，需要把下面出现的noetic改为kinetic；）
②启动usb相机节点
A.查找摄像头接口
ls /dev/video*这里可以先在插入usb摄像头的时候检查一下接口，然后拔出usb摄像头的时候再检查一下接口（看看少了哪些，少了的就是usb摄像头的）
很明显， /dev/video2 或者 /dev/video3 是我的摄像头usb接口号（好像ubuntu下摄像头是有两个号的，用任意一个就可以了）；
B.在该路径下修改launch文件，换成你自己的摄像头接口
到达该路径：
cd /opt/ros/noetic/share/usb_cam/launch/编辑该文件
sudo gedit usb_cam-test.launch
原本这里是 /dev/video0，将其改为/dev/video2
保存后退出，然后运行：
roslaunch usb_cam usb_cam-test.launch
然后就可以运行摄像头了：
2.2 ubuntu18.04 ros为melodic版本
2.2.1 直接通过命令行安装usb-cam包（推荐，适合网络状态好的时候）
sudo apt install ros-melodic-usb-cam
如果网络不好，就无法安装，会报错让你sudo apt-get upgrade --fix-missing之类的，如果网络行，那么sudo apt install ros-melodic-usb-cam安装命令就会一次成功，如果不行，那就都没用…如果你是无法命令行安装，可以看我下面的教程，用源码安装；
命令行安装过程：
smile@smile-X3-S:~/app_install$ sudo apt install ros-melodic-usb-cam
Reading package lists... Done
Building dependency tree
Reading state information... Done
The following packages were automatically installed and are no longer required:linux-hwe-5.4-headers-5.4.0-107 linux-hwe-5.4-headers-5.4.0-113linux-hwe-5.4-headers-5.4.0-121 linux-hwe-5.4-headers-5.4.0-122linux-hwe-5.4-headers-5.4.0-124 linux-hwe-5.4-headers-5.4.0-84python-rosdistro
Use 'sudo apt autoremove' to remove them.
The following additional packages will be installed:libv4l2rds0 ros-melodic-camera-calibration-parsersros-melodic-camera-info-manager v4l-utils
The following NEW packages will be installed:libv4l2rds0 ros-melodic-camera-calibration-parsersros-melodic-camera-info-manager ros-melodic-usb-cam v4l-utils
0 upgraded, 5 newly installed, 0 to remove and 0 not upgraded.
Need to get 422 kB/583 kB of archives.
After this operation, 2,182 kB of additional disk space will be used.
Do you want to continue? [Y/n] y
Get:1 https://mirrors.ustc.edu.cn/ubuntu bionic/main amd64 libv4l2rds0 amd64 1.14.2-1 [15.6 kB]
Get:2 https://mirrors.ustc.edu.cn/ubuntu bionic/universe amd64 v4l-utils amd64 1.14.2-1 [407 kB]
Fetched 422 kB in 3s (129 kB/s)
Selecting previously unselected package libv4l2rds0:amd64.
(Reading database ... 369439 files and directories currently installed.)
Preparing to unpack .../libv4l2rds0_1.14.2-1_amd64.deb ...
Unpacking libv4l2rds0:amd64 (1.14.2-1) ...
Selecting previously unselected package v4l-utils.
Preparing to unpack .../v4l-utils_1.14.2-1_amd64.deb ...
Unpacking v4l-utils (1.14.2-1) ...
Selecting previously unselected package ros-melodic-camera-calibration-parsers.
Preparing to unpack .../ros-melodic-camera-calibration-parsers_1.11.13-0bionic.20220127.151909_amd64.deb ...
Unpacking ros-melodic-camera-calibration-parsers (1.11.13-0bionic.20220127.151909) ...
Selecting previously unselected package ros-melodic-camera-info-manager.
Preparing to unpack .../ros-melodic-camera-info-manager_1.11.13-0bionic.20220127.153034_amd64.deb ...
Unpacking ros-melodic-camera-info-manager (1.11.13-0bionic.20220127.153034) ...
Selecting previously unselected package ros-melodic-usb-cam.
Preparing to unpack .../ros-melodic-usb-cam_0.3.6-0bionic.20220127.153459_amd64.deb ...
Unpacking ros-melodic-usb-cam (0.3.6-0bionic.20220127.153459) ...
Setting up libv4l2rds0:amd64 (1.14.2-1) ...
Setting up v4l-utils (1.14.2-1) ...
Setting up ros-melodic-camera-calibration-parsers (1.11.13-0bionic.20220127.151909) ...
Setting up ros-melodic-camera-info-manager (1.11.13-0bionic.20220127.153034) ...
Setting up ros-melodic-usb-cam (0.3.6-0bionic.20220127.153459) ...
Processing triggers for libc-bin (2.27-3ubuntu1.6) ...
Processing triggers for man-db (2.8.3-2ubuntu0.1) ...2.2.1 通过源代码安装usb-cam包
创建一个文件夹（后面要在这个文件夹下编译源代码、安装程序包）
mkdir -p ~/app_install/catkin_ws/src
然后创建工作空间
cd ~/app_install/catkin_ws/
catkin_make
然后source一下（告诉计算机你在这个路径下准备要编译包了，这一步是将创建的工作空间加入到环境路径中。）：
source devel/setup.bash
过程如下
smile@smile-X3-S:~$ mkdir -p ~/app_install/catkin_ws/src
smile@smile-X3-S:~$ cd ~/app_install/catkin_ws/
smile@smile-X3-S:~/app_install/catkin_ws$ catkin_make
Base path: /home/smile/app_install/catkin_ws
Source space: /home/smile/app_install/catkin_ws/src
Build space: /home/smile/app_install/catkin_ws/build
Devel space: /home/smile/app_install/catkin_ws/devel
Install space: /home/smile/app_install/catkin_ws/install
Creating symlink "/home/smile/app_install/catkin_ws/src/CMakeLists.txt" pointing to "/opt/ros/melodic/share/catkin/cmake/toplevel.cmake"
####
#### Running command: "cmake /home/smile/app_install/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/smile/app_install/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/smile/app_install/catkin_ws/install -G Unix Makefiles" in "/home/smile/app_install/catkin_ws/build"
####
-- The C compiler identification is GNU 7.5.0
-- The CXX compiler identification is GNU 7.5.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Using CATKIN_DEVEL_PREFIX: /home/smile/app_install/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /opt/ros/melodic
-- This workspace overlays: /opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/smile/app_install/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Looking for pthread.h
-- Looking for pthread.h - found
-- Looking for pthread_create
-- Looking for pthread_create - not found
-- Looking for pthread_create in pthreads
-- Looking for pthread_create in pthreads - not found
-- Looking for pthread_create in pthread
-- Looking for pthread_create in pthread - found
-- Found Threads: TRUE
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- Configuring done
-- Generating done
-- Build files have been written to: /home/smile/app_install/catkin_ws/build
####
#### Running command: "make -j16 -l16" in "/home/smile/app_install/catkin_ws/build"
####
smile@smile-X3-S:~/app_install/catkin_ws$ source devel/setup.bash
smile@smile-X3-S:~/app_install/catkin_ws$ 在src目录下新建了一个程序包，$catkin_create_pkg usb_cam std_msgs rospy roscpp
cd src/
catkin_create_pkg usb_cam std_msgs rospy roscpp
然后需要编译一下，把它的工作空间加入到当前的工作空间下，source一下将工作空间加入到环境路径下。
cd ..
catkin_make
source devel/setup.bash
过程如下
smile@smile-X3-S:~/app_install/catkin_ws/src$ cd ..
smile@smile-X3-S:~/app_install/catkin_ws$ catkin_make
Base path: /home/smile/app_install/catkin_ws
Source space: /home/smile/app_install/catkin_ws/src
Build space: /home/smile/app_install/catkin_ws/build
Devel space: /home/smile/app_install/catkin_ws/devel
Install space: /home/smile/app_install/catkin_ws/install
####
#### Running command: "cmake /home/smile/app_install/catkin_ws/src -DCATKIN_DEVEL_PREFIX=/home/smile/app_install/catkin_ws/devel -DCMAKE_INSTALL_PREFIX=/home/smile/app_install/catkin_ws/install -G Unix Makefiles" in "/home/smile/app_install/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/smile/app_install/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/smile/app_install/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/smile/app_install/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/smile/app_install/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - usb_cam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'usb_cam'
-- ==> add_subdirectory(usb_cam)
-- Configuring done
-- Generating done
-- Build files have been written to: /home/smile/app_install/catkin_ws/build
####
#### Running command: "make -j16 -l16" in "/home/smile/app_install/catkin_ws/build"
smile@smile-X3-S:~/app_install/catkin_ws$ 进入工作目录并下载usb_cam包
git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
smile@smile-X3-S:~/app_install/catkin_ws$ ls
build devel src
smile@smile-X3-S:~/app_install/catkin_ws$ cd src
smile@smile-X3-S:~/app_install/catkin_ws/src$ git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
fatal: destination path 'usb_cam' already exists and is not an empty directory.把之前新建的usb_cam删掉
然后在下载一下
smile@smile-X3-S:~/app_install/catkin_ws/src$ git clone https://github.com/bosch-ros-pkg/usb_cam.git usb_cam
Cloning into 'usb_cam'...
remote: Enumerating objects: 1481, done.
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Resolving deltas: 100% (610/610), done.
smile@smile-X3-S:~/app_install/catkin_ws/src$ 编译
cd ..
catkin_make
过程如下
smile@smile-X3-S:~/app_install/catkin_ws/src$ cd ..
smile@smile-X3-S:~/app_install/catkin_ws$ catkin_make
Base path: /home/smile/app_install/catkin_ws
Source space: /home/smile/app_install/catkin_ws/src
Build space: /home/smile/app_install/catkin_ws/build
Devel space: /home/smile/app_install/catkin_ws/devel
Install space: /home/smile/app_install/catkin_ws/install
####
#### Running command: "make cmake_check_build_system" in "/home/smile/app_install/catkin_ws/build"
####
-- Using CATKIN_DEVEL_PREFIX: /home/smile/app_install/catkin_ws/devel
-- Using CMAKE_PREFIX_PATH: /home/smile/app_install/catkin_ws/devel;/opt/ros/melodic
-- This workspace overlays: /home/smile/app_install/catkin_ws/devel;/opt/ros/melodic
-- Found PythonInterp: /usr/bin/python2 (found suitable version "2.7.17", minimum required is "2")
-- Using PYTHON_EXECUTABLE: /usr/bin/python2
-- Using Debian Python package layout
-- Using empy: /usr/bin/empy
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /home/smile/app_install/catkin_ws/build/test_results
-- Found gtest sources under '/usr/src/googletest': gtests will be built
-- Found gmock sources under '/usr/src/googletest': gmock will be built
-- Found PythonInterp: /usr/bin/python2 (found version "2.7.17")
-- Using Python nosetests: /usr/bin/nosetests-2.7
-- catkin 0.7.29
-- BUILD_SHARED_LIBS is on
-- BUILD_SHARED_LIBS is on
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- ~~ traversing 1 packages in topological order:
-- ~~ - usb_cam
-- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- +++ processing catkin package: 'usb_cam'
-- ==> add_subdirectory(usb_cam)
-- Found PkgConfig: /usr/bin/pkg-config (found version "0.29.1")
-- Checking for module 'libavcodec'
-- Found libavcodec, version 57.107.100
-- Checking for module 'libswscale'
-- Found libswscale, version 4.8.100
-- Configuring done
-- Generating done
-- Build files have been written to: /home/smile/app_install/catkin_ws/build
####
#### Running command: "make -j16 -l16" in "/home/smile/app_install/catkin_ws/build"
####
Scanning dependencies of target usb_cam
[ 25%] Building CXX object usb_cam/CMakeFiles/usb_cam.dir/src/usb_cam.cpp.o
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp: In member function ‘int usb_cam::UsbCam::init_mjpeg_decoder(int, int)’:
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:386:89: warning: ‘int avpicture_alloc(AVPicture*, AVPixelFormat, int, int)’ is deprecated [-Wdeprecated-declarations]T_RGB24, image_width, image_height);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:5626:5: note: declared hereint avpicture_alloc(AVPicture *picture, enum AVPixelFormat pix_fmt, int width, int height);^~~~~~~~~~~~~~~
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:397:90: warning: ‘int avpicture_get_size(AVPixelFormat, int, int)’ is deprecated [-Wdeprecated-declarations]YUV422P, image_width, image_height);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:5653:5: note: declared hereint avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);^~~~~~~~~~~~~~~~~~
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:398:85: warning: ‘int avpicture_get_size(AVPixelFormat, int, int)’ is deprecated [-Wdeprecated-declarations]T_RGB24, image_width, image_height);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:5653:5: note: declared hereint avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);^~~~~~~~~~~~~~~~~~
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp: In member function ‘void usb_cam::UsbCam::mjpeg2rgb(char*, int, char*, int)’:
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:422:94: warning: ‘int avcodec_decode_video2(AVCodecContext*, AVFrame*, int*, const AVPacket*)’ is deprecated [-Wdeprecated-declarations]rame_camera_, &got_picture, &avpkt);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:4993:5: note: declared hereint avcodec_decode_video2(AVCodecContext *avctx, AVFrame *picture,^~~~~~~~~~~~~~~~~~~~~
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:441:76: warning: ‘int avpicture_get_size(AVPixelFormat, int, int)’ is deprecated [-Wdeprecated-declarations]ec_context_->pix_fmt, xsize, ysize);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:5653:5: note: declared hereint avpicture_get_size(enum AVPixelFormat pix_fmt, int width, int height);^~~~~~~~~~~~~~~~~~
/home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:454:123: warning: ‘int avpicture_layout(const AVPicture*, AVPixelFormat, int, int, unsigned char*, int)’ is deprecated [-Wdeprecated-declarations](uint8_t *)RGB, avframe_rgb_size_);^
In file included from /home/smile/app_install/catkin_ws/src/usb_cam/include/usb_cam/usb_cam.h:44:0,from /home/smile/app_install/catkin_ws/src/usb_cam/src/usb_cam.cpp:55:
/usr/include/x86_64-linux-gnu/libavcodec/avcodec.h:5645:5: note: declared hereint avpicture_layout(const AVPicture *src, enum AVPixelFormat pix_fmt,^~~~~~~~~~~~~~~~
[ 50%] Linking CXX shared library /home/smile/app_install/catkin_ws/devel/lib/libusb_cam.so
[ 50%] Built target usb_cam
Scanning dependencies of target usb_cam_node
[ 75%] Building CXX object usb_cam/CMakeFiles/usb_cam_node.dir/nodes/usb_cam_node.cpp.o
[100%] Linking CXX executable /home/smile/app_install/catkin_ws/devel/lib/usb_cam/usb_cam_node
[100%] Built target usb_cam_node
smile@smile-X3-S:~/app_install/catkin_ws$ 上面的编译过程中，到了100%就行，可能会报红或者警告，不要管他；
启动节点测试roslaunch us b_cam usb_cam-test.launch
这里因为没有告诉新开的终端准备要用包的路径，所以会报错
smile@smile-X3-S:~/app_install/catkin_ws$ roslaunch us
b_cam usb_cam-test.launch
RLException: [usb_cam-test.launch] is neither a launch file in package [usb_cam] nor is [usb_cam] a launch file name
The traceback for the exception was written to the log file在工作路径下source一下（如果用这个方法，每次打开一个终端都需要一次source！）
source devel/setup.bash如果不设置好source，那你就无法在新终端下run起来，会报错找不到roslaunch文件
bash: /home/smile/app_install/catkin_ws/devel/setup.bash: Permission denied
smile@smile-X3-S:~$ roslaunch usb_cam usb_cam-test.launch
RLException: [usb_cam-test.launch] is neither a launch file in package [usb_cam] nor is [usb_cam] a launch file name
The traceback for the exception was written to the log file
也可以一劳永逸source
为了不每次运行程序的时候都source一次devel文件夹里的setup.bash，可以打开主目录 按下Crtl+h 显示隐藏文件，双击打开bashrc文件，或者到这个目录下打开终端然后：sudo gedit .bashrc
在最后加入
source/home/############/catkin_ws/devel/setup.bash，其中###部分为你的计算机账户，保存后再重新打开终端，显示无错误即可。
source /home/smile/app_install/catkin_ws/devel/setup.bash
如果不加source后面就会报错：bash: /home/smile/app_install/catkin_ws/devel/setup.bash: Permission denied
修改好后，激活一下source ~/.bashrc
就可以用了
smile@smile-X3-S:~/
catkin_wssmile@smile-X3-S:~/app_install/catkin_ws$ roslaunch us
b_cam usb_cam-test.launch
RLException: [usb_cam-test.launch] is neither a launch file in package [usb_cam] nor is [usb_cam] a launch file name
The traceback for the exception was written to the log file
smile@smile-X3-S:~/
catkin_wssmile@smile-X3-S:~/app_install/catkin_ws$ source devel
/setup.bash
smile@smile-X3-S:~/
catkin_wssmile@smile-X3-S:~/app_install/catkin_ws$ source devel roslaunch us
b_cam usb_cam-test.launch
... logging to /home/smile/.ros/log/156d2af4-4390-11ed-a099-3c58c26f458c/roslaunch-smile-X3-S-26383.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.started roslaunch server http://smile-X3-S:40005/SUMMARY
========PARAMETERS* /image_view/autosize: True* /rosdistro: melodic* /rosversion: 1.14.13* /usb_cam/camera_frame_id: usb_cam* /usb_cam/image_height: 480* /usb_cam/image_width: 640* /usb_cam/io_method: mmap* /usb_cam/pixel_format: yuyv* /usb_cam/video_device: /dev/video0NODES/image_view (image_view/image_view)usb_cam (usb_cam/usb_cam_node)auto-starting new master
process[master]: started with pid [26393]
ROS_MASTER_URI=http://localhost:11311setting /run_id to 156d2af4-4390-11ed-a099-3c58c26f458c
process[rosout-1]: started with pid [26404]
started core service [/rosout]
process[usb_cam-2]: started with pid [26407]
process[image_view-3]: started with pid [26411]
[ INFO] [1664852163.724025585]: Initializing nodelet with 16 worker threads.
[ INFO] [1664852163.736597435]: using default calibration URL
[ INFO] [1664852163.736978102]: camera calibration URL: file:///home/smile/.ros/camera_info/head_camera.yaml
[ INFO] [1664852163.737007231]: Unable to open camera calibration file [/home/smile/.ros/camera_info/head_camera.yaml]
[ WARN] [1664852163.737016572]: Camera calibration file /home/smile/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1664852163.737028096]: Starting 'head_camera' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[ INFO] [1664852163.777121709]: Using transport "raw"
[ WARN] [1664852163.806821536]: unknown control 'white_balance_temperature_auto'[ WARN] [1664852163.808830397]: unknown control 'focus_auto'^C[image_view-3] killing on exit
[usb_cam-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done2.3 启动usb相机节点
A.查找摄像头接口
ls /dev/video*这里可以先在插入usb摄像头的时候检查一下接口，然后拔出usb摄像头的时候再检查一下接口（看看少了哪些，少了的就是usb摄像头的）
很明显， /dev/video2 或者 /dev/video3 是我的摄像头usb接口号（好像ubuntu下摄像头是有两个号的，用任意一个就可以了）；
B.在该路径下修改launch文件，换成你自己的摄像头接口
到达该路径：
cd /opt/ros/noetic/share/usb_cam/launch/编辑该文件
sudo gedit usb_cam-test.launch
原本这里是 /dev/video0，将其改为/dev/video2
保存后退出，然后运行：
roslaunch usb_cam usb_cam-test.launch
然后就可以运行摄像头了：
如果报错：ERROR: cannot launch node of type [image_view/image_view]: image_viewROS path [0]=/opt/ros/noetic/s
ERROR: cannot launch node of type [image_view/image_view]: image_view
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/zxf/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share
解决方法：
sudo apt-get install ros-noetic-image-view
注意：noetic那个地方为ROS版本号，需要替换为自己的。后面的image-view来源于自己的报错信息，注意查看，如果出现无法定位软件包，改连接符"-“为”_"试试。
ubuntu各种版本上测试usb摄像头（支持单目摄像头、乐视、realsense等）是否正常工作相关推荐
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