Installation

Prerequisites

Install these three software modules beforehand: ROS indigo, libusb and libuvc.

• ROS kinetic / ROS indigo

• libusb

sudo apt-get install libusb-1.0-0-dev

• libuvc

git clone https://github.com/ktossell/libuvc
cd libuvc
mkdir build
cd build
cmake ..
make && sudo make install

Installation

Clone this repository in your catkin workspace. Please use the dynamic-reconfigure branch for latest features.

cd ~/catkin_ws/src
git clone https://github.com/PX4/uvc_ros_driver

MAVLink Submodule

This package depends on MAVLink. To initialize and check out the submodule, run this:

cd ~/catkin_ws/src/uvc_ros_driver
git submodule init
git submodule update --recursive

Building

Build using catkin_make according to the ROS instructions .

cd ~/catkin_ws/
catkin_make

Set up Permissions

To get proper permissions for the USB device, run the following script with the device attached:

cd ~/catkin_ws/src/uvc_ros_driver
sudo ./install.sh

Log out of Ubuntu and Log back in. Unplug the device and plug it back in to load it with the new permissions.

Running the driver

roslaunch uvc_ros_driver uvc_ros_driver.launch

The camera images and IMU messages will be published on the topic /uvc_camera/cam_x/image_raw and /uvc_camera/cam_x/imu

Edit driver parameter

To adjust the settings, such as image orientations and different parameters, param_config.yaml in the launch folder needs to be edited. To change the settings dynamicly, run rqt_reconfigure

rosrun rqt_reconfigure rqt_reconfigure

To save your chosen settings, simply export them as a yaml-file by clicking the save-symbol on top of the list.