01.sh

ls /dev/video*

02.sh

udevadm info --name=/dev/video2 --attribute-walk

03.sh

looking at device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1:1.0/video4linux/video2':
    KERNEL=="video2"
    SUBSYSTEM=="video4linux"
    DRIVER==""
    ATTR{dev_debug}=="0"
    ATTR{index}=="0"
    ATTR{name}=="HD USB Camera: HD USB Camera"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1/1-1:1.0':
    KERNELS=="1-1:1.0"
    SUBSYSTEMS=="usb"
    DRIVERS=="uvcvideo"
    ATTRS{authorized}=="1"
    ATTRS{bAlternateSetting}==" 0"
    ATTRS{bInterfaceClass}=="0e"
    ATTRS{bInterfaceNumber}=="00"
    ATTRS{bInterfaceProtocol}=="00"
    ATTRS{bInterfaceSubClass}=="01"
    ATTRS{bNumEndpoints}=="01"
    ATTRS{iad_bFirstInterface}=="00"
    ATTRS{iad_bFunctionClass}=="0e"
    ATTRS{iad_bFunctionProtocol}=="00"
    ATTRS{iad_bFunctionSubClass}=="03"
    ATTRS{iad_bInterfaceCount}=="02"
    ATTRS{interface}=="HD USB Camera"
    ATTRS{supports_autosuspend}=="1"

  looking at parent device '/devices/pci0000:00/0000:00:14.0/usb1/1-1':
    KERNELS=="1-1"
    SUBSYSTEMS=="usb"
    DRIVERS=="usb"
    ATTRS{authorized}=="1"
    ATTRS{avoid_reset_quirk}=="0"
    ATTRS{bConfigurationValue}=="1"
    ATTRS{bDeviceClass}=="ef"
    ATTRS{bDeviceProtocol}=="01"
    ATTRS{bDeviceSubClass}=="02"
    ATTRS{bMaxPacketSize0}=="64"
    ATTRS{bMaxPower}=="500mA"
    ATTRS{bNumConfigurations}=="1"
    ATTRS{bNumInterfaces}==" 2"
    ATTRS{bcdDevice}=="2702"
    ATTRS{bmAttributes}=="80"
    ATTRS{busnum}=="1"
    ATTRS{configuration}==""
    ATTRS{devnum}=="7"
    ATTRS{devpath}=="1"
    ATTRS{idProduct}=="9320"
    ATTRS{idVendor}=="05a3"
    ATTRS{ltm_capable}=="no"
    ATTRS{manufacturer}=="HD USB Camera"
    ATTRS{maxchild}=="0"
    ATTRS{product}=="HD USB Camera"
    ATTRS{quirks}=="0x0"
    ATTRS{removable}=="removable"
    ATTRS{serial}=="HD USB Camera"
    ATTRS{speed}=="480"
    ATTRS{urbnum}=="63"
    ATTRS{version}==" 2.00"
    ...

04.sh

ATTRS{idProduct}=="9320"
ATTRS{idVendor}=="05a3"

05.sh

SUBSYSTEMS=="usb", ENV{DEVTYPE}=="usb_device", ATTRS{idVendor}=="05a3", ATTRS{idProduct}=="9320", MODE="0666"

06.sh

sudo udevadm control --reload-rules

07.sh

v4l2-ctl --list-formats-ext -d /dev/video2

08.sh

ioctl: VIDIOC_ENUM_FMT
        Index       : 0
        Type        : Video Capture
        Pixel Format: 'MJPG' (compressed)
        Name        : Motion-JPEG
                Size: Discrete 1920x1080
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 1280x720
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
                Size: Discrete 800x600
                        Interval: Discrete 0.033s (30.000 fps)
                        Interval: Discrete 0.040s (25.000 fps)
                        Interval: Discrete 0.067s (15.000 fps)
...

09.sh

cd ~/ros_ws/src
catkin create pkg my_camera --catkin-deps libuvc_camera
mkdir ~/ros_ws/src/my_camera/launch

10.xml

<launch>

  <node pkg="nodelet" type="nodelet" name="nodelet_manager" args="manager" output="screen"/>

  <node pkg="nodelet" type="nodelet" name="libuvc_camera" args="load libuvc_camera/driver /nodelet_manager" output="screen">
    <param name="frame_id" value="elp_camera" />
    <!-- Parameters used to find the camera -->
    <param name="vendor" value="0x05a3"/>
    <param name="product" value="0x9422"/>

    <!-- Image size and type -->
    <param name="width" value="1280"/>
    <param name="height" value="720"/>
    <param name="video_mode" value="mjpeg"/>
    <param name="frame_rate" value="15"/>

    <!-- <param name="camera_info_url" value="file://$(find my_camera)/config/elp.yaml"/> -->
  </node>


</launch>

11.sh

roslaunch my_camera elp.launch

12.sh

rosrun rqt_image_view rqt_image_view