Camera 在ROS kinetic上运行uvc摄像头时遇到问题
我想在ROS kinetic上运行uvc_摄像头,但遇到错误“uvc_开始_流:无效模式(-51)” 我的相机参数:Camera 在ROS kinetic上运行uvc摄像头时遇到问题,camera,ros,uvc,Camera,Ros,Uvc,我想在ROS kinetic上运行uvc_摄像头,但遇到错误“uvc_开始_流:无效模式(-51)” 我的相机参数: ioctl: VIDIOC_ENUM_FMT Index : 0 Type : Video Capture Pixel Format: 'YUYV' Name : YUYV 4:2:2 Size: Discrete 1280x720 Interval: Discrete 0.017s (60.000 fps)
ioctl: VIDIOC_ENUM_FMT
Index : 0
Type : Video Capture
Pixel Format: 'YUYV'
Name : YUYV 4:2:2
Size: Discrete 1280x720
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 2560x720
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 2560x960
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 1280x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 640x480
Interval: Discrete 0.011s (90.000 fps)
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Index : 1
Type : Video Capture
Pixel Format: 'MJPG' (compressed)
Name : Motion-JPEG
Size: Discrete 1280x720
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 2560x720
Interval: Discrete 0.017s (60.000 fps)
Interval: Discrete 0.033s (30.000 fps)
Size: Discrete 2560x960
Interval: Discrete 0.033s (30.000 fps)
启动文件:
<launch>
<group ns="camera">
<node pkg="libuvc_camera" type="camera_node" name="mycam">
<!-- Parameters used to find the camera -->
<param name="vendor" value="0x0211"/>
<param name="product" value="0x5838"/>
<param name="serial" value=""/>
<!-- If the above parameters aren't unique, choose the first match: -->
<param name="index" value="0"/>
<!-- Image size and type -->
<param name="width" value="2560"/>
<param name="height" value="960"/>
<!-- choose whichever uncompressed format the camera supports: -->
<param name="video_mode" value="mjpeg"/> <!-- or uncompressed/yuyv/nv12/mjpeg -->
<param name="frame_rate" value="30"/>
<param name="timestamp_method" value="start"/> <!-- start of frame -->
<param name="camera_info_url" value="file:///tmp/cam.yaml"/>
<param name="brightness" value="50" />
<param name="auto_exposure" value="3"/> <!-- use aperture_priority auto exposure -->
<param name="auto_white_balance" value="true"/>
</node>
</group>
</launch>
启动时的消息:
... logging to /home/flaver/.ros/log/62ad8bb8-23af-11eb-8725-000c2914e622/roslaunch-ubuntu-6727.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ubuntu:33305/
SUMMARY
========
PARAMETERS
* /camera/mycam/auto_exposure: 3
* /camera/mycam/auto_white_balance: True
* /camera/mycam/brightness: 50
* /camera/mycam/camera_info_url: file:///tmp/cam.yaml
* /camera/mycam/frame_rate: 30
* /camera/mycam/height: 960
* /camera/mycam/index: 0
* /camera/mycam/product: 0x5838
* /camera/mycam/serial:
* /camera/mycam/timestamp_method: start
* /camera/mycam/vendor: 0x0211
* /camera/mycam/video_mode: uncompressed
* /camera/mycam/width: 2560
* /rosdistro: kinetic
* /rosversion: 1.12.16
NODES
/camera/
mycam (libuvc_camera/camera_node)
ROS_MASTER_URI=http://localhost:11311
process[camera/mycam-1]: started with pid [6744]
unsupported descriptor subtype VS_COLORFORMAT
unsupported descriptor subtype VS_COLORFORMAT
unsupported descriptor subtype VS_COLORFORMAT
attempt to claim already-claimed interface 1
uvc_start_streaming: Invalid mode (-51)
[camera/mycam-1] process has died [pid 6744, exit code 255, cmd
/home/flaver/catkin_ws/devel/lib/libuvc_camera/camera_node __name:=mycam
__log:=/home/flaver/.ros/log/62ad8bb8-23af-11eb-8725-000c2914e622/camera-mycam-1.log].
log file: /home/flaver/.ros/log/62ad8bb8-23af-11eb-8725-000c2914e622/camera-mycam-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
。。。登录到/home/flaver/.ros/log/62ad8bb8-23af-11eb-8725-000c2914e622/roslaunch-ubuntu-6727.log
正在检查日志目录中的磁盘使用情况。这可能需要一段时间。
按Ctrl-C键中断
已完成检查日志文件磁盘使用情况。使用很抱歉,伙计们,第三部分“*/camera/mycam/video_mode:”是“mjpeg”,我发布了错误的代码请随意使用更新直接更新您的原始问题:)也许,您也可以发布节点的代码?因此我查看了文档,似乎返回错误:uvc_错误\u t流\u错误=uvc_开始\u流(devh_,&ctrl,&CameraDriver::ImageCallbackAdapter,this,0);在第444行抱歉的家伙,第三部分“*/camera/mycam/video_mode:”是“mjpeg”,我发布了错误的代码请随时直接用更新更新您的原始问题:)也许,你也可以发布节点的代码?所以我查看了文档,结果似乎返回false:uvc_error\u t stream\u err=uvc_start\u streaming(devh_,&ctrl,&CameraDriver::ImageCallbackAdapter,this,0);在线444