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New in C Turtle

Example Use

To produce a version of the forearm camera view that always points up:

rosrun image_rotate image_rotate image:=l_forearm_cam/image_color \
rotated/image:=l_forearm_cam/image_color_rotated __name:=image_rotater

You can then view it with image_view.

rosrun image_view image_view image:=l_forearm_cam/image_color_rotated

It is easy to adjust the settings using rqt_reconfigure.

rosrun rqt_reconfigure rqt_reconfigure image_rotater

ROS API

image_rotate

image_rotate is a node to rotate an image for visualization. The node takes a source vector and a target vector, and projects them onto the camera image. It then rotates the image by the angle neded to align the projection of the source vector with the projection of the target vector. The source and target vectors are specified in arbitrary TF frames allowing the rotation angle to vary dynamically as frames move relative to one another. With the default settings, the image will be rotated so that the top of the image matches the up direction the base_link.

Subscribed Topics

image (sensor_msgs/Image)

• Image to be rotated (the accompanying camera_info may also be subscribed to).

Published Topics

rotated/image (sensor_msgs/Image)

• Rotated image

Parameters

Dynamically Reconfigurable Parameters

See the dynamic_reconfigure package for details on dynamically reconfigurable parameters.

~target_frame_id (str, default: base_link)

• Frame in which the target vector is specified. Empty means the input frame.

~target_x (double, default: 0.0)

• X coordinate of the target vector Range: -10.0 to 10.0

~target_y (double, default: 0.0)

• Y coordinate of the target vector Range: -10.0 to 10.0

~target_z (double, default: 1.0)

• Z coordinate of the target vector Range: -10.0 to 10.0

~source_frame_id (str, default: )

• Frame in which the source vector is specified. Empty means the input frame.

~source_x (double, default: 0.0)

• X coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0

~source_y (double, default: -1.0)

• Y coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0

~source_z (double, default: 0.0)

• Z coordinate of the direction the target should be aligned with. Range: -10.0 to 10.0

~output_frame_id (str, default: )

• Frame to publish for the image's new orientation. Empty means add '_rotated' suffix to the image frame.

~input_frame_id (str, default: )

• Frame to use for the original camera image. Empty means that the frame in the image or camera_info should be used depending on use_camera_info.

~use_camera_info (bool, default: True)

• Indicates that the camera_info topic should be subscribed to to get the default input_frame_id. Otherwise the frame from the image message will be used.

~max_angular_rate (double, default: 10.0)

• Limits the rate at which the image can rotate (rad/s). Zero means no limit. Range: 0.0 to 100.0

~output_image_size (double, default: 2.0)

• Size of the output image as a function of the input image size. Can be varied continuously between the following special settings: 0 ensures no black ever appears, 1 is small image dimension, 2 is large image dimension, 3 is image diagonal. Range: 0.0 to 3.0