After building the package using catkin_make, we can run the node using the following command:

• Launch webcam driver:

    $ roslaunch usb_cam usb_cam-test.launch  

• Run the cv_bridge sample node:

    $ rosrun cv_bridge_tutorial_pkg sample_cv_bridge_node  

If everything works fine, we will get two windows, as shown in the following
image. The first window shows the raw image and the second is the processed
edge detected image.