ARCHIVED - This Repo is no longer used for FLEXA since the changes to use Ethernet IP Camera instead of USB Camera
This fork implements support for a few formats not supported by the original usb_cam. In particular, support for H264 with YUV420 pixel formats and MJPEG with YUVJ422 pixel formats. The motivation for modifying this fork was because the USB webcam we had simply did not work with usb_cam, because it did not output video in the formats supported by usb_cam.
If you wish to stream H264 with YUV420 into ROS, simply run the launchfile with <param name="pixel_format" value="h264_yuv420p" />.
If you wish to stream MJPEG with YUVJ422 into ROS, simply run the launchfile with <param name="pixel_format" value="mjpeg_yuvj420p" />.
For info, since this was not modified by me here, if you wish to stream MJPEG with YUVJ420 into ROS, simply run the launchfile with <param name="pixel_format" value="mjpeg" />, though avcodec might complain that a deprecated pixel format is used. This is because the usb_cam was hardcoded to use YUV420 when video feed is MJPEG, but YUVJ420 uses full range of data, but not YUV420. Either way, if you need to remove the complaints at the source, do consider the changes mentioned in this issue.
This package is based off of V4L devices specifically instead of just UVC.
For full documentation, see the ROS wiki.
Doxygen files can be found on the ROS wiki.
usb_cam is released with a BSD license. For full terms and conditions, see the LICENSE file.
See the AUTHORS file for a full list of contributors.