| PC -> Ubuntu 16.04 - > ROS Kinetic |
| Android系統手機 |
1、Android移動端APP下載安裝
配置手機端：（一般默認即可RTSP）
2、源碼下載（rocon_devices_kinetic）
將文件解壓在catkin_ws/src文件夾；
3、編譯
catkin_make
4、配置
source xxx/devel/setup.bash （×××是路徑）
5、查看手機端接口，並配置
export ROCON_RTSP_CAMERA_RELAY_URL=rtsp://×××:5540/ch0 （×××是IP）
6、運行驅動
roslaunch rocon_rtsp_camera_relay rtsp_camera_relay.launch --screen
7、查看ros接口
rostopic list
/rosout
/rosout_agg
/rtsp_camera_relay/camera_info
/rtsp_camera_relay/image
/rtsp_camera_relay/image/compressed
/rtsp_camera_relay/image/compressed/parameter_descriptions
/rtsp_camera_relay/image/compressed/parameter_updates
/rtsp_camera_relay/image/compressedDepth
/rtsp_camera_relay/image/compressedDepth/parameter_descriptions
/rtsp_camera_relay/image/compressedDepth/parameter_updates
/rtsp_camera_relay/image/theora
/rtsp_camera_relay/image/theora/parameter_descriptions
/rtsp_camera_relay/image/theora/parameter_updates
/rtsp_camera_relay/status
8、數據可視化
rosrun image_view image_view image:=/rtsp_camera_relay/image
過程可能遇到錯誤：
error while loading shared libraries: libopencv_core3.so.3.3: cannot open shared object file: No such file or directory
解決方法：
①打開路徑/etc/ld.so.conf.d
②創建文件OpenCV.conf
③在OpenCV.conf中寫入：opencv文件夾lib的路徑
④在終端執行命令：
sudo ldconfig