USB Camera Streaming with ROS

┌─────────────────────┐         ┌─────────────────────┐
│   Raspberry Pi      │         │        PC           │
│  ┌───────────────┐  │         │  ┌───────────────┐  │
│  │  USB Camera   │  │  WiFi   │  │     RViz      │  │
│  └───────┬───────┘  │ ──────► │  │  Visualization│  │
│  ┌───────┴───────┐  │         │  └───────────────┘  │
│  │   usb_cam     │  │         │                     │
│  │   ros node    │  │         │                     │
│  └───────────────┘  │         │                     │
└─────────────────────┘         └─────────────────────┘

# Add repository
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu focal main" > /etc/apt/sources.list.d/ros-latest.list'

# Add key
curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

# Install
sudo apt update
sudo apt install ros-noetic-ros-base

sudo apt install ros-noetic-usb-cam

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin_make
source devel/setup.bash

<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>
</launch>

source /opt/ros/noetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_MASTER_URI=http://<PC_IP>:11311
export ROS_HOSTNAME=<PI_IP>

source ~/.bashrc

sudo apt install ros-noetic-desktop-full

source /opt/ros/noetic/setup.bash
export ROS_MASTER_URI=http://<PC_IP>:11311
export ROS_HOSTNAME=<PC_IP>

roscore

roslaunch usb_cam usb_cam.launch

roslaunch ~/catkin_ws/src/usb_cam.launch

rosrun rviz rviz

rostopic list | grep image

/usb_cam/image_raw

rostopic bw /usb_cam/image_raw

rosrun image_view image_view image:=/usb_cam/image_raw

# Check device
ls /dev/video*

# Test camera
v4l2-ctl --list-devices

sudo chmod 666 /dev/video0
# Or add user to video group
sudo usermod -a -G video $USER

rostopic echo /usb_cam/image_raw/compressed