1、利用cv_camera()包解决

$ mkdir -p ~/camera_ws/src

$ cd ~/camera_ws/

$ catkin_make

$ source devel/setup.bash

$ cd src

$ git clone https://github.com/OTL/cv_camera.git

$ cd ..

$ catkin_make

$ source devel/setup.bash

2、在cv_camera包下建立launch文件夹，并建立my_camera.lauch文件，launch文件内容如下：

<launch>

<node name="cv_camera" pkg="cv_camera" type="cv_camera_node" output="screen" >

<param name="device_id" type="int" value="0" />

</node>

<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">

<remap from="image" to="/cv_camera/image_raw"/>

<param name="autosize" value="true" />

</node>

</launch>

3、执行launch文件

$ cd ~/camera_ws/

$ roslaunch cv_camera my_camera.launch