https://blog.csdn.net/plejahhshsh/article/details/126002268
编译
catkin_make -DUSE_PANGOLIN_VIEWER=ON -DUSE_SOCKET_PUBLISHER=OFF
source devel/setup.bash
指令
1）将图像更改为话题发布出去 roscore rosrun image_publisher image_publisher /opt/ros/melodic/share/rviz/images/splash.png 2）播放bag包，将指定的话题进行新话题名的映射 rosbag play 2023-03-15-19-28-26.bag /camera/infra1/image_rect_raw:=/camera/image_raw 3）显示图像的话题 rosrun image_view image_view image:=/image_publisher_1603025741590002479/image_raw 4）读取视频 rosrun image_publisher image_publisher /xxx/1.mp4 5）读取摄像头数据，将参数改为摄像头设备号或者设备文件，执行以下指令： rosrun image_publisher image_publisher 0 与以下指令等价： rosrun image_publisher image_publisher /dev/video0
1）发布数据基于视频的方法
rosrun image_publisher image_publisher ./aist_living_lab_1/video.mp4 /image_raw:=/camera/image_raw
2）发布数据基于一般摄像头的
apt install ros-${ROS_DISTRO}-usb-cam
rosparam set usb_cam/pixel_format yuyv
rosrun usb_cam usb_cam_node
rosrun image_transport republish \
raw in:=/usb_cam/image_raw raw out:=/camera/image_raw
3）运行（Tracking and Mapping 源码位置：stella_vslam_ros/src/run_slam.cc）
source ~/catkin_ws/devel/setup.bash
rosrun stella_vslam_ros run_slam \
-v /path/to/orb_vocab.fbow \
-c /path/to/config.yaml \
--map-db-out /path/to/map.msg
4）运行（Localization 源码位置：stella_vslam_ros/src/run_slam.cc）
source ~/catkin_ws/devel/setup.bash
rosrun stella_vslam_ros run_slam \
--disable-mapping \
-v /path/to/orb_vocab.fbow \
-c /path/to/config.yaml \
--map-db-in /path/to/map.msg
标签：publisher,raw,openvslam,image,编译,path,rosrun,ros From： https://www.cnblogs.com/gooutlook/p/18335223