USB Camera Node for ROS

This project provides a ROS node to capture images from a USB camera and publish them to a ROS topic.

Installation

1. Download the Package
   Clone the repository into your ROS workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/adnroboticsfr/USB-Camera-Node-ROS.git

2. Build the Package
   From the root of your workspace, compile the package:

   cd ~/catkin_ws
   catkin_make

Usage

1. Launch the Node
   Start the USB Camera node using the launch file:

   source ~/catkin_ws/devel/setup.bash
   roslaunch usb_camera_node usb_cam.launch

Verification

1. Check Topics
   In another terminal, verify if the usb_cam/image_raw topic is publishing messages:

   rostopic list

   To view the published images, you can use rqt_image_view:

   rosrun rqt_image_view rqt_image_view

2. Monitor Connection Status
   You can also check the connection status by echoing the usb_cam/connected topic:

   rostopic echo usb_cam/connected

Configuration

If you wish to customize camera parameters (such as camera index, frame rate, resolution, etc.), you can modify the usb_cam.launch file:

<launch>
    <node name="usb_cam_node" pkg="usb_cam" type="usb_cam_node" output="screen">
        <param name="camera_index" value="0" />
        <param name="rate_hz" value="10" />
        <param name="flip_image" value="true" />
        <param name="width" value="640" />
        <param name="height" value="480" />
    </node>
</launch>

Support

For questions or issues, please refer to the ROS documentation or create an issue on the GitHub repository.

---

With this guide, you are ready to use the USB Camera node in ROS to capture and view images. Happy experimenting with ROS!