25 Oct 2014
usb_cam
1. Download usb_cam package from github
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git clone https://github.com/bosch-ros-pkg/usb_cam.git |
2.
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catkin_make |
then
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catkin_make install |
3. create the usb_cam.launch
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<launch> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="/dev/video1" /> <param name="image_width" value="640" /> <param name="image_height" value="480" /> <param name="pixel_format" value="mjpeg" /> <param name="camera_frame_id" value="usb_cam" /> <param name="io_method" value="mmap"/> <param name="framerate" value="60" /> </node> </launch> |
4.
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roslaunch usb_cam usb_cam.launch |
that give error:
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kaho@kaho-S451LN:~/catkin_ws$ roslaunch usb_cam usb_cam.launch ... logging to /home/kaho/.ros/log/5eebf04a-5c1f-11e4-aae8-6c71d9d4d0db/roslaunch-kaho-S451LN-8581.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://kaho-S451LN:53630/ SUMMARY ======== PARAMETERS * /rosdistro: indigo * /rosversion: 1.11.9 * /usb_cam/camera_frame_id: usb_cam * /usb_cam/framerate: 60 * /usb_cam/image_height: 480 * /usb_cam/image_width: 640 * /usb_cam/io_method: mmap * /usb_cam/pixel_format: mjpeg * /usb_cam/video_device: /dev/video1 NODES / usb_cam (usb_cam/usb_cam_node) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[usb_cam-1]: started with pid [8599] [ INFO] [1414234378.786608515]: Starting 'head_camera' (/dev/video1) at 640x480 via mmap (mjpeg) at 60 FPS [ INFO] [1414234379.243398846]: using default calibration URL [ INFO] [1414234379.243581353]: camera calibration URL: file:///home/kaho/.ros/camera_info/head_camera.yaml [ INFO] [1414234379.243809389]: Unable to open camera calibration file [/home/kaho/.ros/camera_info/head_camera.yaml] [ WARN] [1414234379.243940126]: Camera calibration file /home/kaho/.ros/camera_info/head_camera.yaml not found. ^C[usb_cam-1] killing on exit |
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Info about usb_cam in ROS wiki
http://wiki.ros.org/usb_cam
1.
*check that the usb_cam is on by
2. edit the cameracalibrator.py according to http://www.iheartrobotics.com/2010/05/testing-ros-usb-camera-drivers.html
* find cameracalibrator.py by
3. start the calibration proccess according to
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
change the chess box size accordingly
calibration pattern
https://github.com/ethz-asl/ethzasl_ptam/blob/master/ptam/calib_pattern.pdf