This is a documentation page dedicated to old versions of usb_cam package (0.3.7 and earlier). Please use the home page usb_cam to read the documentation of current/development versions!



The usb_cam_node interfaces with standard USB cameras (e.g. the Logitech Quickcam) using libusb_cam and publishes images as sensor_msgs::Image. Uses the image_transport library to allow compressed image transport.

Published Topics

~<camera_name>/image_raw (sensor_msgs/Image)
  • The image


~video_device (string, default: "/dev/video0")
  • The device the camera is on.
~image_width (integer, default: 640)
  • Image width
~image_height (integer, default: 480)
  • Image height
~pixel_format (string, default: "mjpeg")
  • Possible values are mjpeg, yuyv, uyvy
~io_method (string, default: "mmap")
  • Possible values are mmap, read, userptr
~camera_frame_id (string, default: "head_camera")
  • The camera's tf frame
~framerate (integer, default: 30)
  • The required framerate
~contrast (integer, default: 32)
  • Contrast of video image (0-255)
~brightness (integer, default: 32)
  • Brightness of video image (0-255)
~saturation (integer, default: 32)
  • Saturation of video image (0-255)
~sharpness (integer, default: 22)
  • Sharpness of video image (0-255)
~autofocus (boolean, default: false)
  • Enable camera's autofocus
~focus (integer, default: 51)
  • If autofocus is disabled, the focus of the camera (0=at infinity)
~camera_info_url (string, default: )
  • An url to the camera calibration file that will be read by the CameraInfoManager class
~camera_name (string, default: head_camera)
  • The camera name. This must match the name in the camera calibration

cv_camera - supports image capture from usb cameras using OpenCV

Wiki: usb_cam/Old Versions (last edited 2023-04-03 15:55:52 by Andrey Vukolov)