Question

我是ros的新手，我正在尝试将立体声相机与ros uvc_cam节点连接起来，在那里我使用了以下启动文件。在那里我无法连接到立体声节点。任何帮助表示赞赏。预先谢谢你。

我得到的错误

process[stereo/left/left-1]: started with pid [17924]
ERROR: cannot launch node of type [libuvc_camera/uvc_stereo_node]: can't locate node [uvc_stereo_node] in package [libuvc_camera]
terminate called after throwing an instance of 'std::runtime_error'
  what():  pixel format unavailable
[stereo/left/left-1] process has died [pid 17924, exit code -6, cmd /opt/ros/kinetic/lib/uvc_camera/uvc_stereo_node __name:=left __log:=/home/stephen/.ros/log/23e3c506-036c-11e9-ab94-9cb6d0ba8311/stereo-left-left-1.log].
log file: /home/stephen/.ros/log/23e3c506-036c-11e9-ab94-9cb6d0ba8311/stereo-left-left-1*.log

启动文件。

<launch>
  <arg name="width" default="2560" />
  <arg name="height" default="960" />
  <arg name="video_mode" default="yuyv" />
  <arg name="frame_rate" default="30" />

  <!-- start the left camera -->
  <node pkg="uvc_camera" type="uvc_stereo_node" name="left" ns="stereo/left">

    <!-- Parameters used to find the camera -->
    <param name="vendor" value="0x04b4"/>
    <param name="product" value="0x5652"/>
    <param name="index" value="0"/>

    <!-- Image size and type -->
    <param name="width" value="1280"/>
    <param name="height" value="960"/>
    <param name="video_mode" value="yuyv"/>
    <param name="frame_rate" value="30"/>
  </node>

  <!-- start the right camera -->
  <node pkg="uvc_camera" type="uvc_stereo_node" name="right" ns="stereo/right">

    <!-- Parameters used to find the camera -->
    <param name="vendor" value="0x04b4"/>
    <param name="product" value="0x5652"/>
    <param name="index" value="0"/>

    <!-- Image size and type -->
    <param name="width" value="1280"/>
    <param name="height" value="960"/>
    <param name="video_mode" value="yuyv"/>
    <param name="frame_rate" value="30"/>
  </node>
</launch>

相机参数

Bus 002 Device 006: ID 04b4:5652 Cypress Semiconductor Corp. 
Device Descriptor:
  bLength                18
  bDescriptorType         1
  bcdUSB               3.00
  bDeviceClass          239 Miscellaneous Device
  bDeviceSubClass         2 ?
  bDeviceProtocol         1 Interface Association
  bMaxPacketSize0         9
  idVendor           0x04b4 Cypress Semiconductor Corp.
  idProduct          0x5652 
  bcdDevice            0.00
  iManufacturer           1 
  iProduct                2 
  iSerial                 0 
  bNumConfigurations      1

ROS uvc_camera无法连接立体相机

0 个答案: