ros调用摄像头的代码样例

你好！以下是调用USB摄像头的ROS代码样例：

import rospy
import cv2

from sensor_msgs.msg import Image
from cv_bridge import CvBridge, CvBridgeError

class Camera:
    def __init__(self):
        self.bridge = CvBridge()
        self.image_pub = rospy.Publisher("image_topic", Image, queue_size=1)
        self.cap = cv2.VideoCapture(0)

    def publish(self):
        ret, frame = self.cap.read()

        if ret:
            try:
                self.image_pub.publish(self.bridge.cv2_to_imgmsg(frame, "bgr8"))
            except CvBridgeError as e:
                print(e)

if __name__ == '__main__':
    rospy.init_node('camera', anonymous=True)
    rate = rospy.Rate(10)

    cam = Camera()

    while not rospy.is_shutdown():
        cam.publish()
        rate.sleep()

希望以上代码能够帮助您！