cd ~/ros2_ws/src/
git clone https://github.com/ros-perception/image_pipeline.git
mkdir ~/ros2_ws/ros2_camera_driver/
cd ~/ros2_ws/ros2_camera_driver/
git clone https://github.com/clydemcqueen/opencv_cam.git
git clone https://github.com/ptrmu/ros2_shared.git

foxy
colcon build

foxy
ros2 run opencv_cam opencv_cam_main --ros-args -p index:=2 -p width:=1280 -p height:=720

foxy
ros2 run camera_calibration cameracalibrator --size=9x6 --square=0.024 --approximate=0.1 --no-service-check  --ros-args --remap /image:=/image_raw

('Wrote calibration data to', '/tmp/calibrationdata.tar.gz')

tar -xvzf /tmp/calibrationdata.tar.gz
mv ost.txt camera.ini

vim camera.ini

[camera] 　     #書き換え前
　　↓
[narrow_stereo] #書き換え後

# Copyright (c) 2020, Open Source Robotics Foundation, Inc.
# All rights reserved.
#
# Software License Agreement (BSD License 2.0)
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
#  * Redistributions of source code must retain the above copyright
#    notice, this list of conditions and the following disclaimer.
#  * Redistributions in binary form must reproduce the above
#    copyright notice, this list of conditions and the following
#    disclaimer in the documentation and/or other materials provided
#    with the distribution.
#  * Neither the name of the copyright holder nor the names of its
#    contributors may be used to endorse or promote products derived
#    from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.conditions import LaunchConfigurationEquals
from launch.conditions import LaunchConfigurationNotEquals
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import ComposableNodeContainer
from launch_ros.actions import LoadComposableNodes
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
    composable_nodes = [
        ComposableNode(
            package='image_proc',
            plugin='image_proc::DebayerNode',
            name='debayer_node',
        ),
        ComposableNode(
            package='image_proc',
            plugin='image_proc::RectifyNode',
            name='rectify_color_node',
            # Remap subscribers and publishers
            remappings=[
                ('image', '/usb_cam/image_raw'),
                ('camera_info', '/usb_cam/camera_info'),
                ('image_rect', 'image_rect_color')
            ],
        )
    ]

    arg_container = DeclareLaunchArgument(
        name='container', default_value='',
        description=(
            'Name of an existing node container to load launched nodes into. '
            'If unset, a new container will be created.'
        )
    )

    # If an existing container is not provided, start a container and load nodes into it
    image_processing_container = ComposableNodeContainer(
        condition=LaunchConfigurationEquals('container', ''),
        name='image_proc_container',
        namespace='',
        package='rclcpp_components',
        executable='component_container',
        composable_node_descriptions=composable_nodes,
        output='screen'
    )

    # If an existing container name is provided, load composable nodes into it
    # This will block until a container with the provided name is available and nodes are loaded
    load_composable_nodes = LoadComposableNodes(
        condition=LaunchConfigurationNotEquals('container', ''),
        composable_node_descriptions=composable_nodes,
        target_container=LaunchConfiguration('container'),
    )

    return LaunchDescription([
        arg_container,
        image_processing_container,
        load_composable_nodes,
    ])

foxy
ros2 run opencv_cam opencv_cam_main --ros-args -p index:=2 -p width:=1280 -p height:=720 --remap __ns:=/usb_cam  -p camera_info_path:=${CAMERA_PARAM_PATH}/camera.ini

foxy
ros2 launch image_proc.launch.py

foxy
ros2 run  image_tools showimage  /image:=/image_rect_color