webcam not appearing in "rostopic list"

edit

Hi everyone,

I am new to ROS and have been trying to run a camera calibration using PTAM, however I am having some issues getting the camera recognised and to appear with rostopic list.

I have followed the tutorial below, http://pharos.ece.utexas.edu/wiki/ind... however I get the following error when running rosmake usb_cam:

[ 50%] Building CXX object src/libusb_cam/CMakeFiles/usb_cam.dir/usb_cam.cpp.o
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp: In function ‘int init_mjpeg_decoder(int, int)’:
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:282:16: error: ‘avcodec_init’ was not declared in this scope
   avcodec_init();
                ^
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:292:43: error: ‘avcodec_alloc_context’ was not declared in this scope
   avcodec_context = avcodec_alloc_context();
                                           ^
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:311:44: error: ‘avcodec_open’ was not declared in this scope
   if (avcodec_open(avcodec_context, avcodec) < 0)
                                            ^
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp: In function ‘void usb_cam_camera_shutdown()’:
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:872:28: error: ‘av_free’ was not declared in this scope
     av_free(avcodec_context);
                            ^
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:876:27: error: ‘av_free’ was not declared in this scope
     av_free(avframe_camera);
                           ^
/home/mvs/rosbuild_ws/package_dir/usb_cam/bosch_drivers/usb_cam/src/libusb_cam/usb_cam.cpp:879:24: error: ‘av_free’ was not declared in this scope
     av_free(avframe_rgb);

The missing packages are not around anymore, so is there an alternative to use?

I feel there should be a simpler way to get the a usb camera working, am I missing somthing?

Thank you, any help will be appreciated.