libuvcのインストールと使用方法

#環境
ubuntu18.04
ROS melodic

#使い方

webカメラを接続した上で、下記コマンドを各ターミナルで実行

roscore
rosrun libuvc_camera camera_node
rosrun image_view image_view image:=/image_raw

#liuvcのインストール

apt-getでインストール

sudo apt-get install ros-melodic-libuvc-camera

もしくは、githubからインストール

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

実行

rosrun libuvc_camera camera_node

#エラーが出た場合

上のコマンドで下記のエラーが出た場合

/opt/ros/melodic/lib/libuvc_camera/camera_node: error while loading shared libraries: libuvc.so: cannot open shared object file: No such file or directory

上記サイトより

Your library is a dynamic library.
You need to tell the operating system where it can locate it at runtime.
To do so, we will need to do those easy steps:

[1] Find where the library is placed if you don't know it.
sudo find / -name libuvc.so

/usr/local/lib/x86_64-linux-gnu/libuvc.so
find: ‘/proc/1429/task/1429/net’: 無効な引数です
find: ‘/proc/1429/net’: 無効な引数です
/home/okubo18/workspace/libuvc/libuvc/build/libuvc.so
/opt/ros/melodic/lib/x86_64-linux-gnu/libuvc.so
find: ‘/run/user/1000/gvfs’: 許可がありません

[2] Check for the existence of the dynamic library path environment　variable(LD_LIBRARY_PATH)
echo $LD_LIBRARY_PATH

/home/okubo18/workspace/vins-fusion_ws/devel/lib:/home/okubo18/workspace/catkin_ws/devel/lib:/opt/ros/melodic/lib

[3] We add the desire path, export it and try the application.

LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/local/lib/x86_64-linux-gnu/
echo $LD_LIBRARY_PATH

/home/okubo18/workspace/vins-fusion_ws/devel/lib:/home/okubo18/workspace/catkin_ws/devel/lib:/opt/ros/melodic/lib:/usr/local/lib:/usr/local/lib/x86_64-linux-gnu/
※usr/local/lib も加えた

export LD_LIBRARY_PATH
rosrun libuvc_camera camera_node