#include <panorama.h>

Public Member Functions
void	init ()
void	log (std::string msg)
	PanoApp ()
void	spin ()
	~PanoApp ()
Private Member Functions
void	activeCb ()
void	doneCb (const actionlib::SimpleClientGoalState &state, const pano_ros::PanoCaptureResultConstPtr &result)
void	feedbackCb (const pano_ros::PanoCaptureFeedbackConstPtr &feedback)
bool	hasReachedAngle ()
void	odomCb (const nav_msgs::OdometryConstPtr &msg)
void	rotate ()
void	snap ()
void	startPanoAction ()
void	stitchedImageCb (const sensor_msgs::ImageConstPtr &msg)
void	stopPanoAction ()
void	stopPanoCb (const std_msgs::EmptyConstPtr &msg)
void	takePanoCb (const std_msgs::EmptyConstPtr &msg)
bool	takePanoServiceCb (turtlebot_msgs::TakePanorama::Request &request, turtlebot_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
std_msgs::Empty	empty_msg
double	given_angle
bool	go_active
bool	is_active
double	last_angle
ros::NodeHandle	nh
actionlib::SimpleActionClient < pano_ros::PanoCaptureAction > *	pano_ros_client
std::map< std::string, std::string >	params
ros::NodeHandle	priv_nh
ros::Publisher	pub_action_snap
ros::Publisher	pub_action_stop
ros::Publisher	pub_cmd_vel
ros::Publisher	pub_log
image_transport::Publisher	pub_stitched
double	snap_interval
ros::ServiceServer	srv_start_pano
ros::Subscriber	sub_odom
ros::Subscriber	sub_start_pano
image_transport::Subscriber	sub_stitched
ros::Subscriber	sub_stop_pano
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 49 of file panorama.cpp.

turtlebot_panorama::PanoApp::~PanoApp ( )

Definition at line 64 of file panorama.cpp.

Member Function Documentation

void turtlebot_panorama::PanoApp::activeCb ( ) [private]

Triggered when the pano_ros action goal went active

Definition at line 365 of file panorama.cpp.

void turtlebot_panorama::PanoApp::doneCb	(	const actionlib::SimpleClientGoalState &	state,
		const pano_ros::PanoCaptureResultConstPtr &	result
	)		`[private]`

Triggered when the pano_ros action goal has finished

Parameters:

stateSNAPANDROTATE
result

Definition at line 358 of file panorama.cpp.

void turtlebot_panorama::PanoApp::feedbackCb ( const pano_ros::PanoCaptureFeedbackConstPtr & feedback ) [private]

Triggered while the pano_ros server is gathering snapshots

Parameters:

feedback

Definition at line 373 of file panorama.cpp.

bool turtlebot_panorama::PanoApp::hasReachedAngle ( ) [private]

Checks, if the robot has turned the specified angle interval

Definition at line 192 of file panorama.cpp.

void turtlebot_panorama::PanoApp::init ( )

Definition at line 69 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 407 of file panorama.cpp.

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

Processes the robot's odometry data

Parameters:

msg	odometry data

Definition at line 205 of file panorama.cpp.

void turtlebot_panorama::PanoApp::rotate ( ) [private]

Rotates the robot

Definition at line 186 of file panorama.cpp.

void turtlebot_panorama::PanoApp::snap ( ) [private]

Takes a snapshot

Definition at line 180 of file panorama.cpp.

void turtlebot_panorama::PanoApp::spin ( )

Definition at line 113 of file panorama.cpp.

void turtlebot_panorama::PanoApp::startPanoAction ( ) [private]

Sends an action to goal the pano_ros action server for taking snapshots and stitching them together

Definition at line 337 of file panorama.cpp.

void turtlebot_panorama::PanoApp::stitchedImageCb ( const sensor_msgs::ImageConstPtr & msg ) [private]

Receives the stitched panorama picture

Parameters:

msg	stiched image

Definition at line 395 of file panorama.cpp.

void turtlebot_panorama::PanoApp::stopPanoAction ( ) [private]

Stops the taking snapshots and triggers the stitching

Definition at line 351 of file panorama.cpp.

void turtlebot_panorama::PanoApp::stopPanoCb ( const std_msgs::EmptyConstPtr & msg ) [private]

Stops the panorama creation

Parameters:

msg	empty message

Definition at line 320 of file panorama.cpp.

void turtlebot_panorama::PanoApp::takePanoCb ( const std_msgs::EmptyConstPtr & msg ) [private]

Simple way of taking a panorama picture (uses default values)

Parameters:

msg	empty message

Definition at line 293 of file panorama.cpp.

bool turtlebot_panorama::PanoApp::takePanoServiceCb	(	turtlebot_msgs::TakePanorama::Request &	request,
		turtlebot_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 233 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 136 of file panorama.h.

double turtlebot_panorama::PanoApp::default_pano_angle [private]

Default panorama angle used for interaction via rostopic

Definition at line 140 of file panorama.h.

double turtlebot_panorama::PanoApp::default_rotation_velocity [private]

Default rotation velocity used for interaction via rostopic

Definition at line 148 of file panorama.h.

double turtlebot_panorama::PanoApp::default_snap_interval [private]

Default snap interval used for interaction via rostopic

Definition at line 144 of file panorama.h.

std_msgs::Empty turtlebot_panorama::PanoApp::empty_msg [private]

Definition at line 87 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 132 of file panorama.h.

bool turtlebot_panorama::PanoApp::is_active [private]

turns true, when the pano_ros action goal goes active

Definition at line 126 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.

actionlib::SimpleActionClient<pano_ros::PanoCaptureAction>* turtlebot_panorama::PanoApp::pano_ros_client [private]

Definition at line 114 of file panorama.h.

std::map<std::string, std::string> turtlebot_panorama::PanoApp::params [private]

Definition at line 86 of file panorama.h.