2、使用usb_cam节点发布图像与上篇中的yolo v3 tiny检测

①在darknet_ros/darknet_ros/config/ros.yaml文件中修改订阅的图像消息

 

 

 修改为/usb_cam/image_raw

roslaunch darknet_ros yolo_v3.launch

参考：冰达机器人/darknet_ros (gitee.com)

②下载usb_cam源码

git clone https://github.com/ros-drivers/usb_cam

修改launch文件

<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>
<!--  注释掉此节点，不显示图片
  <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>

　　roslaunch usb_cam usb_cam-test.launch

③、使用ros usb_cam节点标注摄像头见链接：使用usb_cam软件包调试usb摄像头_通哈膨胀哈哈哈的博客-CSDN博客_usb_cam