turtlebot_msgs

Summary

turtlebot_msgs
Version:

2.2.1
Description:

Turtlebot messages, services and actions
Maintainers:
  • Jorge Santos <jorge AT rnd DOT yujinrobot DOT com>
Licenses:
  • BSD
Urls:
Authors:
  • Jorge Santos <jorge AT rnd DOT yujinrobot DOT com>
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

turtlebot_msgs/PanoramaImg
Field:
  • header (std_msgs/Header) –
  • pano_id (string) –
  • latitude (float64) –
  • longitude (float64) –
  • heading (float64) –
  • geo_tag (string) –
  • image (sensor_msgs/Image) –

Pano message

#Pano message
Header header
string pano_id
float64 latitude
float64 longitude
float64 heading #in degrees, compass heading
string geo_tag
sensor_msgs/Image image

Service types

turtlebot_msgs/SetFollowState
Constant (Request):
 
  • STOPPED (uint8):0 –
  • FOLLOW (uint8):1 –
Field (Request):
 
  • state (uint8) –
Constant (Response):
 
  • OK (uint8):0 –
  • ERROR (uint8):1 –
Field (Response):
 
  • result (uint8) – 
uint8 STOPPED = 0
uint8 FOLLOW  = 1

# Following running/stopped
uint8 state

---

uint8 OK    = 0
uint8 ERROR = 1

uint8 result
turtlebot_msgs/TakePanorama
Field (Request):
 
  • mode (uint8) –
  • pano_angle (float32) –
  • snap_interval (float32) –
  • rot_vel (float32) –
Constant (Request):
 
  • SNAPANDROTATE (uint8):0 –
  • CONTINUOUS (uint8):1 –
  • STOP (uint8):2 –
Field (Response):
 
  • status (uint8) –
Constant (Response):
 
  • STARTED (uint8):0 –
  • IN_PROGRESS (uint8):1 –
  • STOPPED (uint8):2 –

mode for taking the pictures

# mode for taking the pictures
uint8 mode
# rotate, stop, snapshot, rotate, stop, snapshot, ...
uint8 SNAPANDROTATE=0
# keep rotating while taking snapshots
uint8 CONTINUOUS=1
# stop an ongoing panorama creation
uint8 STOP=2
# total angle of panorama picture
float32 pano_angle
# angle interval when creating the panorama picture in snap&rotate mode, time interval otherwise 
float32 snap_interval
# rotating velocity
float32 rot_vel

---

uint8 status
uint8 STARTED=0
uint8 IN_PROGRESS=1
uint8 STOPPED=2