2 import roslib; roslib.load_manifest(
'turtlebot3_panorama')
5 from sensor_msgs.msg
import Image
11 rospy.loginfo(
"Final Image")
14 if __name__ ==
'__main__':
16 rospy.init_node(
'loop_panorama')
19 srv_takepano = rospy.ServiceProxy(
'/turtlebot_panorama/take_pano',TakePano)
20 takepanoReq = TakePanoRequest()
21 takepanoReq.angle = 360
22 takepanoReq.snap_interval = 0.5
23 takepanoReq.zvel = -0.2
26 sub_pano = rospy.Subscriber(
'/turtlebot_panorama/pano_server/stitch',Image,imageCallback)
31 print str(takepanoReq)
33 rospy.loginfo(
"Initialized")
34 while not rospy.is_shutdown():
35 rospy.loginfo(
"Iteration " + str(iteration))
37 takepanoReq.zvel = -takepanoReq.zvel
41 while (
not rospy.is_shutdown())
and in_progress ==
True:
42 print "is_shutdown" + str(rospy.is_shutdown())
43 print "inprogress " + str(in_progress)
47 iteration = iteration + 1
49 rospy.loginfo(
"Bye Bye")