标定+USB摄像头启动

src/car_image_proc/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(car_image_proc)
+
+find_package(ament_cmake REQUIRED)
+
+# This package currently only provides launch files.
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

src/car_image_proc/launch/image_proc.launch.py

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+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    image_topic_arg = DeclareLaunchArgument(
+        'image_topic',
+        default_value='/image',
+        description='Input raw image topic.'
+    )
+    camera_info_topic_arg = DeclareLaunchArgument(
+        'camera_info_topic',
+        default_value='/camera_info',
+        description='Input camera info topic.'
+    )
+    image_rect_topic_arg = DeclareLaunchArgument(
+        'image_rect_topic',
+        default_value='/image_rect',
+        description='Output rectified image topic.'
+    )
+
+    rectify_node = Node(
+        package='image_proc',
+        executable='rectify_node',
+        name='rectify_node',
+        output='screen',
+        remappings=[
+            ('image', LaunchConfiguration('image_topic')),
+            ('camera_info', LaunchConfiguration('camera_info_topic')),
+            ('image_rect', LaunchConfiguration('image_rect_topic')),
+        ],
+    )
+
+    return LaunchDescription([
+        image_topic_arg,
+        camera_info_topic_arg,
+        image_rect_topic_arg,
+        rectify_node,
+    ])

src/car_image_proc/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>car_image_proc</name>
+  <version>0.0.1</version>
+  <description>Launch wrapper for rectifying the car camera image stream.</description>
+
+  <maintainer email="sunrise@example.com">sunrise</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>image_proc</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>