turtlebot_panorama::PanoApp Class Reference

#include <panorama.h>

Public Member Functions
void	init ()
void	log (std::string msg)
	PanoApp ()
void	spin ()
	~PanoApp ()

Private Member Functions
void	cameraImageCb (const sensor_msgs::ImageConstPtr &msg)
bool	hasReachedAngle ()
void	odomCb (const nav_msgs::OdometryConstPtr &msg)
void	rotate ()
void	snap ()
void	startPanoAction ()
bool	takePanoServiceCb (turtlebot3_applications_msgs::TakePanorama::Request &request, turtlebot3_applications_msgs::TakePanorama::Response &response)

Private Attributes
double	ang_vel_cur
double	angle
geometry_msgs::Twist	cmd_vel
bool	continuous
int	default_mode
double	default_pano_angle
double	default_rotation_velocity
double	default_snap_interval
double	given_angle
bool	go_active
std::vector< cv::Mat >	images_
bool	is_active
double	last_angle
ros::NodeHandle	nh
std::map< std::string, std::string >	params
ros::NodeHandle	priv_nh
ros::Publisher	pub_cmd_vel
image_transport::Publisher	pub_stitched
double	snap_interval
ros::ServiceServer	srv_start_pano
bool	store_image
image_transport::Subscriber	sub_camera
ros::Subscriber	sub_odom
geometry_msgs::Twist	zero_cmd_vel

Detailed Description

The PanoApp utilises pano_ros for creating panorama pictures.

Definition at line 68 of file panorama.h.

Constructor & Destructor Documentation

turtlebot_panorama::PanoApp::PanoApp

(

)

Definition at line 51 of file panorama.cpp.

turtlebot_panorama::PanoApp::~PanoApp

(

)

Definition at line 56 of file panorama.cpp.

Member Function Documentation

void turtlebot_panorama::PanoApp::cameraImageCb ( const sensor_msgs::ImageConstPtr &  msg )

private

Definition at line 295 of file panorama.cpp.

bool turtlebot_panorama::PanoApp::hasReachedAngle ( )

private

Definition at line 194 of file panorama.cpp.

void turtlebot_panorama::PanoApp::init

(

)

Definition at line 61 of file panorama.cpp.

void turtlebot_panorama::PanoApp::log

(

std::string

msg

)

Additionally sends out logging information on a ROS topic

Parameters

msg	logging information

Definition at line 326 of file panorama.cpp.

void turtlebot_panorama::PanoApp::odomCb ( const nav_msgs::OdometryConstPtr &  msg )

private

Definition at line 207 of file panorama.cpp.

void turtlebot_panorama::PanoApp::rotate ( )

private

Definition at line 188 of file panorama.cpp.

void turtlebot_panorama::PanoApp::snap ( )

private

Definition at line 180 of file panorama.cpp.

void turtlebot_panorama::PanoApp::spin

(

)

Definition at line 95 of file panorama.cpp.

void turtlebot_panorama::PanoApp::startPanoAction ( )

private

bool turtlebot_panorama::PanoApp::takePanoServiceCb ( turtlebot3_applications_msgs::TakePanorama::Request &  request, turtlebot3_applications_msgs::TakePanorama::Response &  response  )

private

Starts the creation of a panorama picture via a ROS service

Parameters

request	specify the details for panorama creation
response	the current state of the app (started, in progress, stopped)

Returns

true, if service call was successful

Definition at line 235 of file panorama.cpp.

Member Data Documentation

double turtlebot_panorama::PanoApp::ang_vel_cur

private

Definition at line 90 of file panorama.h.

double turtlebot_panorama::PanoApp::angle

private

Definition at line 90 of file panorama.h.

geometry_msgs::Twist turtlebot_panorama::PanoApp::cmd_vel

private

Definition at line 88 of file panorama.h.

bool turtlebot_panorama::PanoApp::continuous

private

Definition at line 92 of file panorama.h.

int turtlebot_panorama::PanoApp::default_mode

private

Default panorama mode used for interaction via rostopic

Definition at line 119 of file panorama.h.

double turtlebot_panorama::PanoApp::default_pano_angle

private

Default panorama angle used for interaction via rostopic

Definition at line 123 of file panorama.h.

double turtlebot_panorama::PanoApp::default_rotation_velocity

private

Default rotation velocity used for interaction via rostopic

Definition at line 131 of file panorama.h.

double turtlebot_panorama::PanoApp::default_snap_interval

private

Default snap interval used for interaction via rostopic

Definition at line 127 of file panorama.h.

double turtlebot_panorama::PanoApp::given_angle

private

Definition at line 90 of file panorama.h.

bool turtlebot_panorama::PanoApp::go_active

private

Tells the pano_ros feedback callback to set is_active to true (starts rotating the robot) This is necessary in order to capture the first picture at the start, since it takes a while to get the first pciture from the Kinect.

Definition at line 115 of file panorama.h.

std::vector<cv::Mat> turtlebot_panorama::PanoApp::images_

private

Definition at line 104 of file panorama.h.

bool turtlebot_panorama::PanoApp::is_active

private

turns true, when the pano_ros action goal goes active

Definition at line 109 of file panorama.h.

double turtlebot_panorama::PanoApp::last_angle

private

Definition at line 90 of file panorama.h.

ros::NodeHandle turtlebot_panorama::PanoApp::nh

private

Definition at line 84 of file panorama.h.

std::map<std::string, std::string> turtlebot_panorama::PanoApp::params

private

Definition at line 86 of file panorama.h.

ros::NodeHandle turtlebot_panorama::PanoApp::priv_nh

private

Definition at line 85 of file panorama.h.

ros::Publisher turtlebot_panorama::PanoApp::pub_cmd_vel

private

Definition at line 100 of file panorama.h.

image_transport::Publisher turtlebot_panorama::PanoApp::pub_stitched

private

Definition at line 94 of file panorama.h.

double turtlebot_panorama::PanoApp::snap_interval

private

Definition at line 89 of file panorama.h.

ros::ServiceServer turtlebot_panorama::PanoApp::srv_start_pano

private

Definition at line 97 of file panorama.h.

bool turtlebot_panorama::PanoApp::store_image

private

Definition at line 133 of file panorama.h.

image_transport::Subscriber turtlebot_panorama::PanoApp::sub_camera

private

Definition at line 95 of file panorama.h.

ros::Subscriber turtlebot_panorama::PanoApp::sub_odom

private

Definition at line 102 of file panorama.h.

geometry_msgs::Twist turtlebot_panorama::PanoApp::zero_cmd_vel

private

Definition at line 88 of file panorama.h.

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The documentation for this class was generated from the following files:

• panorama.h
• panorama.cpp