loop.py
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00001 #!/usr/bin/env python
00002 #
00003 #
00004 
00005 import roslib; roslib.load_manifest('turtlebot_panorama')
00006 import rospy
00007 from turtlebot_panorama.srv import *
00008 from sensor_msgs.msg import Image
00009 
00010 
00011 in_progress = False
00012 
00013 def imageCallback(msg):
00014   global in_progress
00015   rospy.loginfo("Final Image")
00016   in_progress = False
00017 
00018 
00019 if __name__ == '__main__':
00020   global in_progress
00021   rospy.init_node('loop_panorama')
00022 
00023 
00024   # Setting service
00025   srv_takepano = rospy.ServiceProxy('/turtlebot_panorama/take_pano',TakePano)
00026   takepanoReq = TakePanoRequest() 
00027   takepanoReq.angle = 360
00028   takepanoReq.snap_interval = 0.5
00029   takepanoReq.zvel = -0.2
00030 
00031   # Setting final image subscriber
00032   sub_pano = rospy.Subscriber('/turtlebot_panorama/pano_server/stitch',Image,imageCallback)
00033 
00034   in_progress = False
00035 
00036   iteration = 1
00037   print str(takepanoReq)
00038 
00039   rospy.loginfo("Initialized")
00040   while not rospy.is_shutdown():
00041     rospy.loginfo("Iteration " + str(iteration))
00042     # send take panorama call 
00043     takepanoReq.zvel = -takepanoReq.zvel
00044     srv_takepano(takepanoReq)
00045     in_progress = True
00046     # wait until the final image
00047     while (not rospy.is_shutdown()) and in_progress == True:
00048       print "is_shutdown" + str(rospy.is_shutdown())
00049       print "inprogress " + str(in_progress)
00050       
00051       rospy.sleep(1.0)
00052   
00053     iteration = iteration + 1
00054 
00055   rospy.loginfo("Bye Bye")
00056 #  takepanoReq.angle = -1
00057 #  srv_takepano(takepanoReq)
00058   
00059 


turtlebot_panorama
Author(s): Younghun Ju, Jihoon Lee, Marcus Liebhardt
autogenerated on Wed Aug 26 2015 16:34:44