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：
<launch>
<node name="cv_camera" pkg="cv_camera" type="cv_camera_node" output="screen" >
<param name="device_id" type="int" value="0" />
</node>
<node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
<remap from="image" to="/cv_camera/image_raw"/>
<param name="autosize" value="true" />
</node>
</launch>
3、执行launch文件
$ cd ~/camera_ws/
$ roslaunch cv_camera my_camera.launch