Rviz2 显示 USB 摄像头

安装依赖

sudo apt install ros-foxy-camera*
sudo apt install ros-foxy-usb-cam*

启动摄像头节点

ros2 launch usb_cam demo_launch.py

启动 Rviz2

v4l2_camera 软件包

https://gitlab.com/boldhearts/ros2_v4l2_camera

ros2 run v4l2_camera v4l2_camera_node

指定设备节点

ros2 run v4l2_camera v4l2_camera_node --ros-args -p video_device:=/dev/video3