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Note: This tutorial assumes that you have completed the previous tutorials: TurtleBot Bringup.
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The TurtleBot Panorama Demo

Description: This describes how to run the TurtleBot Panorama Demo on your TurtleBot.

Tutorial Level: BEGINNER

Panorama Demo

The panorama demo will show you how to take impressive (to some extent) panoramic pictures with your TurtleBot. To do it turtlebot_panorama uses pano_ros for taking snapshots and stitching them together to create panorama pictures.

Getting started

To launch this app, ssh (ssh help) into the TurtleBot and start the panorama demo:

The panorama app offers two interfaces for triggering the panorama creation:

  1. Via rostopic using parameters defined in the launch file (see Parameters)

    $ rostopic pub turtlebot_panorama/take_pano std_msgs/Empty
  2. Via a service with user-specified parameters (see TakePano service definition)

    $ rosservice call turtlebot_panorama/take_pano 0 360.0 30.0 0.3

You can also stop the panorama creation:

  1. Via rostopic
    $ rostopic pub turtlebot_panorama/stop_pano std_msgs/Empty
  2. Via a service call with the mode parameter set to STOP (2)

    $ rosservice call turtlebot_panorama/take_pano 2 360.0 30.0 0.3

Once you stop the creation a panorama image is created with the already gather snapshots.

Panorama parameters

The magic number you show in previous service calls tell the application how take the panorama. We explain here in the order they must me added to service calls:

Checking Result

The result of panorama can be shown via image_view.

 > rosrun image_view image_view image:=/turtlebot_panorama/panorama

What Next?

2019-12-07 13:13