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Solved that problem.

I need to use rosparam set usb_cam/pixel_format yuyv before rosrun usb_cam usb_cam_node

The problem should be the color format.

Before:

[ INFO] [1392893303.485168904]: usb_cam pixel_format set to [mjpeg]

After:

[ INFO] [1392893336.088686109]: usb_cam pixel_format set to [yuyv]

Then I can see the video stream using rosrun image_view image_view image:=/usb_cam/image_raw

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