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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

This app utilises pano_ros for taking snapshots and stitching them together to create panorama pictures.

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

This app utilises pano_ros for taking snapshots and stitching them together to create panorama pictures.

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 snapshots

Subscribed Topics

pano_app/take_pano (std_msgs/Empty)
  • start the panorama creation with predefined parameters
pano_app/stop_pano (std_msgs/Empty)
  • stop the panorama creation
pano_app/odom (nav_msgs/Odometry)
  • retrieves the robot's odometry to calculate when to take snapshots and when to stop
pano_server/stitch (sensor_msgs/Image)
  • retrieves the stitched image from the pano_ros action server (via ImageTransport)

Published Topics

pano_app/log (std_msgs/String)
  • extra logging via rostopic
pano_app/panorama (sensor_msgs/Image) pano_app/cmd_vel (geometry_msgs/Twist)
  • velocity commands for rotating the robot
pano_server/snap (std_msgs/Empty)
  • triggers the pano_ros action server to take a snapshot
pano_server/stop (std_msgs/Empty)
  • 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
~default_pano_angle (double, default: 2 * Pi (360 degree))
  • total rotating angle for the panorama creation in radians
~default_snap_interval (String, default: 2.0)
  • interval in degrees or seconds (depending on chosen mode) for taking snapshots
~default_rotation_velocity (double, default: 0.3)
  • rotating velocity in radians/sec
~camera_name (String, default: /camera/rgb)
  • topic name prefix for the camera image topic
~bag_location (String, default: /tmp/turtlebot_panorama.bag)
  • location and filename for storing the bag file

Wiki: turtlebot_panorama (last edited 2013-03-11 00:59:42 by Jorge Santos)