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turtlebot_apps: pano_core | pano_py | pano_ros | turtlebot_actions | turtlebot_calibration | turtlebot_core_apps | turtlebot_follower | turtlebot_navigation | turtlebot_panorama | turtlebot_sounds | turtlebot_teleop
Package Summary
Documented
This app utilises pano_ros for taking snapshots and stitching them together to create panorama pictures.
- Author: Younhoon Ju, Jihoon Lee and Marcus Liebhardt
- License: BSD
- Source: git https://github.com/turtlebot/turtlebot_apps.git (branch: groovy)
turtlebot_apps: pano_core | pano_py | pano_ros | turtlebot_actions | turtlebot_calibration | turtlebot_core_apps | turtlebot_follower | turtlebot_navigation | turtlebot_panorama | turtlebot_teleop
Package Summary
Released Continuous integration Documented
This app utilises pano_ros for taking snapshots and stitching them together to create panorama pictures.
- Maintainer status: developed
- Maintainer: Jorge Santos <jorge AT yujinrobot DOT com>
- Author: Younghun Ju, Jihoon Lee, Marcus Liebhardt
- License: BSD
- Bug / feature tracker: https://github.com/turtlebot/turtlebot_apps/issues
- Source: git https://github.com/turtlebot/turtlebot_apps.git (branch: hydro)
turtlebot_apps: turtlebot_actions | turtlebot_calibration | turtlebot_follower | turtlebot_navigation | turtlebot_rapps
Package Summary
Released Continuous integration Documented
This app utilises pano_ros for taking snapshots and stitching them together to create panorama pictures.
- Maintainer status: developed
- Maintainer: Jorge Santos <jorge AT yujinrobot DOT com>
- Author: Younghun Ju, Jihoon Lee, Marcus Liebhardt
- License: BSD
- Bug / feature tracker: https://github.com/turtlebot/turtlebot_apps/issues
- Source: git https://github.com/turtlebot/turtlebot_apps.git (branch: indigo)
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New in groovy
To be documented.
Get started
To learn how to use this package, take a look to the TurtleBot panorama tutorial
ROS API
pano_app
Creates panorama pictures from stitched snapshotsSubscribed Topics
pano_app/take_pano (std_msgs/Empty)- start the panorama creation with predefined parameters
- stop the panorama creation
- retrieves the robot's odometry to calculate when to take snapshots and when to stop
- retrieves the stitched image from the pano_ros action server (via ImageTransport)
Published Topics
pano_app/log (std_msgs/String)- extra logging via rostopic
- publishes the stitched image (via ImageTransport)
- velocity commands for rotating the robot
- triggers the pano_ros action server to take a snapshot
- triggers the pano_ros action server to stop taking snapshots and start the stitching process
Services
pano_app/take_pano (turtlebot_panorama/TakePano)- start/stop the panorama creation with user defined parameters
Parameters
~default_mode (String, default: 1)- default mode for panorama creation: 1 - continuous, 0 - snap&turn
- total rotating angle for the panorama creation in radians
- interval in degrees or seconds (depending on chosen mode) for taking snapshots
- rotating velocity in radians/sec
- topic name prefix for the camera image topic
- location and filename for storing the bag file
