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Looking at your error seems that ar_single is not located, therefore it's not a problem relative to gscam. Did you source the setub.bash file after compiling ar_pose?

Anyway I attached you my launch file:

<launch>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ar_pose)/launch/live_single.rviz"/>

<node pkg="tf" type="static_transform_publisher" name="world_to_cam" args="0 0 0.5 -1.57 0 -1.57 world camera 10"/>

<env name="GSCAM_CONFIG" value="v4l2src device=/dev/video0 ! video/x-raw-yuv,framerate=30/1,width=640,height=480 ! ffm$ &lt;node pkg=" gscam"="" type="gscam" name="gscam" output="screen"> </node>

<node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" output="screen">

</node> </launch>

Looking at your error seems that ar_single is not located, therefore it's not a problem relative to gscam. Did you source the setub.bash file after compiling ar_pose?

Anyway I attached you my launch file:

<launch>

<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ar_pose)/launch/live_single.rviz"/>

<node pkg="tf" type="static_transform_publisher" name="world_to_cam" args="0 0 0.5 -1.57 0 -1.57 world camera 10"/>

  <!-- Launch the image rectification node -->
  <!--<node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>-->

  <!-- Start the GSCAM node -->
  <!-- devide=/dev/video0 for webcam, /dev/video1 for usbcamera -->
<env name="GSCAM_CONFIG" value="v4l2src device=/dev/video0 ! video/x-raw-yuv,framerate=30/1,width=640,height=480 ! ffm$
  &lt;node pkg=" gscam"="" <node pkg="gscam" type="gscam" name="gscam" output="screen">
        
  </node>
 
<param name="width" type="int" value="640" />
    <param name="height" type="int" value="480" />
    <param name="fps" type="int" value="30" />
    <param name="frame_id" type="string" value="camera" />
    <param name="camera_info_url" type="string"
      value="file://$(find gscam)/camera_calibration.yaml" />
  </node>

  <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false" respawn="false"
    output="screen">
         
 
<param name="marker_pattern" type="string"
      value="$(find ar_pose)/data/4x4/4x4_1.patt"/>
    <param name="marker_width" type="double" value="152.4"/>
    <param name="marker_center_x" type="double" value="0.0"/>
    <param name="marker_center_y" type="double" value="0.0"/>
    <param name="threshold" type="int" value="100"/>
    <param name="use_history" type="bool" value="true"/>


  </node>
</launch>
 </launch>

Looking at your error seems that ar_single is not located, therefore it's not a problem relative to gscam. Did you source the setub.bash file after compiling ar_pose?

Anyway I attached you my launch file:

<launch>

<launch>

  <!-- Launch RVIZ as visualizer -->
  <node pkg="rviz" type="rviz" name="rviz" name="rviz"
    args="-d $(find ar_pose)/launch/live_single.rviz"/>
 
 ar_pose)/launch/live_single.rviz"/>

  <!-- Launch the static transform publisher for world to camera -->
  <node pkg="tf" type="static_transform_publisher" name="world_to_cam"  args="0 0 0.5 -1.57 0 -1.57 world camera 10"/>
 
10" />

  <!-- Launch the image rectification node -->
  <!--<node ns="camera" pkg="image_proc" type="image_proc" name="image_proc"/>-->

  <!-- Start the GSCAM node -->
  <!-- devide=/dev/video0 for webcam, /dev/video1 for usbcamera -->
<env name="GSCAM_CONFIG" value="v4l2src device=/dev/video0 ! video/x-raw-yuv,framerate=30/1,width=640,height=480 ! ffm$
  <node pkg="gscam" type="gscam" name="gscam" output="screen">
    <param name="width" type="int" value="640" />
    <param name="height" type="int" value="480" />
    <param name="fps" type="int" value="30" />
    <param name="frame_id" type="string" value="camera" />
    <param name="camera_info_url" type="string"
      value="file://$(find gscam)/camera_calibration.yaml" />
  </node>

  <node name="ar_pose" pkg="ar_pose" type="ar_single" respawn="false"
    output="screen">
    <param name="marker_pattern" type="string"
      value="$(find ar_pose)/data/4x4/4x4_1.patt"/>
    <param name="marker_width" type="double" value="152.4"/>
    <param name="marker_center_x" type="double" value="0.0"/>
    <param name="marker_center_y" type="double" value="0.0"/>
    <param name="threshold" type="int" value="100"/>
    <param name="use_history" type="bool" value="true"/>


  </node>
</launch>
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