Snap of the ros-drivers/usb_cam ROS 2 node. The snap runs usb-cam node as a daemon, sharing the ROS 2 Jazzy runtime from the ros-jazzy-ros-base.

Camera configuration always goes through a ROS params YAML file, matching upstream usb_cam's own --params-file interface. A managed default is seeded at $SNAP_COMMON/config/usb_cam.yaml on install, including video_device: "/dev/video0" by default. This can be edited directly for full control, or use the video-device key as a shortcut for the common case of just pointing at a camera:

   snap install ros2-usb-cam
   snap connect ros2-usb-cam:camera
   snap set ros2-usb-cam video-device=/dev/video4 namespace=/static_camera

General ROS environment (ROS_DOMAIN_ID, RMW_IMPLEMENTATION, FASTDDS_DEFAULT_PROFILES_FILE, ...) is set via the env-injector extension, e.g.:

   snap set ros2-usb-cam env.ros-domain-id=42
   snap set ros2-usb-cam env.rmw-implementation=rmw_fastrtps_cpp

For anything beyond the video-device path (resolution, framerate, pixel format, brightness, camera_info_url, ...), edit $SNAP_COMMON/config/usb_cam.yaml directly, or hand the snap a completely separate file/URL, which takes precedence over the default file:

   snap set ros2-usb-cam config-file=https://example.com/usb_cam.yaml

To discard local edits and restore the packaged default config, run the reset-config app (this also unsets the video-device shortcut so the reset sticks), then restart:

   ros2-usb-cam.reset-config
   snap restart ros2-usb-cam

Run a second camera on the same host with snapd parallel installs (experimental snapd feature; each instance gets its own configuration):

   snap set system experimental.parallel-instances=true
   snap install ros2-usb-cam_wrist
   snap set ros2-usb-cam_wrist video-device=/dev/video2 namespace=/wrist

The snap publishes the standard usb_cam topics (image_raw, image_raw/compressed, camera_info), scoped by the ROS namespace. The camera_name parameter is not part of the topic path -- upstream only uses it for camera metadata (CameraInfo).