add camera configuration and launch files for usb_cam integration

.vscode/settings.json

@@ -0,0 +1,3 @@
+{
+    "ros.distro": "one"
+}

aerial_robot_base/config/sensors/ELP-L170/calibration.yaml

@@ -0,0 +1,26 @@
+image_width: 1280
+image_height: 720
+camera_name: usb_cam
+camera_matrix:
+  rows: 3
+  cols: 3
+  data: [1077.65489,    0.     ,  650.68923,
+            0.     , 1073.68629,  333.7672 ,
+            0.     ,    0.     ,    1.     ]
+distortion_model: plumb_bob
+distortion_coefficients:
+  rows: 1
+  cols: 5
+  data: [-0.377015, 0.137235, 0.006771, 0.002262, 0.000000]
+rectification_matrix:
+  rows: 3
+  cols: 3
+  data: [1., 0., 0.,
+         0., 1., 0.,
+         0., 0., 1.]
+projection_matrix:
+  rows: 3
+  cols: 4
+  data: [ 913.05194,    0.     ,  659.23901,    0.     ,
+            0.     , 1025.0498 ,  333.70401,    0.     ,
+            0.     ,    0.     ,    1.     ,    0.     ]

robots/mini_quadrotor/launch/bringup_cam.launch

@@ -0,0 +1,17 @@
+<launch>
+  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
+    <param name="video_device" value="/dev/video0" />
+    <param name="image_width" value="1280" />
+    <param name="image_height" value="720" />
+    <param name="camera_frame_id" value="usb_cam" />
+    <!-- <param name="io_method" value="mmap"/> -->
+    <param name="camera_info_url" value="/home/dragon_llm/ros/jsk_aerial_robot_ws/src/jsk_aerial_robot/aerial_robot_base/config/sensors/ELP-L170/calibration.yaml" />
+    <param name="pixel_format" value="mjpeg"/>
+  </node>
+
+  <node name="image_proc" pkg="image_proc" type="image_proc" output="screen">
+    <remap from="image_raw" to="/usb_cam/image_raw"/>
+    <remap from="camera_info" to="/usb_cam/camera_info"/>
+  </node>
+
+</launch>