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I use the Raspberry PI camera with ROS kinetic and Ubuntu Mate. First, download raspi-config to enable the camera. I used these directions:

Next, download the usb_cam package:

sudo apt-get install ros-kinetic-usb-cam

Finally, launch the usb_cam

roslaunch usb_cam usb_cam-test.launch

If you PI is not connected to a display and your are using SSH you can use the web_video_server package to view the image in your web browser.