1、利用cv_camera(http://wiki.ros.org/cv_camera)包解决
$ mkdir -p ~/camera_ws/src
$ cd ~/camera_ws/
$ catkin_make
$ source devel/setup.bash
$ cd src
$ git clone https://github.com/OTL/cv_camera.git
$ cd ..
$ catkin_make
$ source devel/setup.bash
2、在cv_camera包下建立launch文件夹，并建立my_camera.lauch文件，launch文件内容如下：
3、执行launch文件
$ cd ~/camera_ws/
$ roslaunch cv_camera my_camera.launch