Merge pull request #18 from ROBOTIS-GIT/master

merge for sync kinetic-devel and master branch

Author: robotpilot

turtlebot3_panorama/CMakeLists.txt

@@ -15,7 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
   sensor_msgs
   geometry_msgs
   nav_msgs
-  turtlebot3_msgs
+  turtlebot3_applications_msgs
   cv_bridge
   image_transport
   cmake_modules
@@ -38,7 +38,7 @@ find_package(OpenCV REQUIRED)
 ################################################################################
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS roscpp rospy std_msgs std_srvs sensor_msgs geometry_msgs nav_msgs turtlebot3_msgs cv_bridge image_transport cmake_modules
+  CATKIN_DEPENDS roscpp rospy std_msgs std_srvs sensor_msgs geometry_msgs nav_msgs turtlebot3_applications_msgs cv_bridge image_transport cmake_modules
   DEPENDS Boost Eigen3 OpenCV
 )
 

turtlebot3_panorama/include/turtlebot3_panorama/panorama.h

@@ -51,7 +51,7 @@
 #include <geometry_msgs/Twist.h>
 #include <nav_msgs/Odometry.h>		
 #include <image_transport/image_transport.h>	
-#include <turtlebot3_msgs/TakePanorama.h>
+#include <turtlebot3_applications_msgs/TakePanorama.h>
 
 #include "geometry.h"
 
@@ -137,8 +137,8 @@ class PanoApp
    * @param response the current state of the app (started, in progress, stopped)
    * @return true, if service call was successful
    */
-  bool takePanoServiceCb(turtlebot3_msgs::TakePanorama::Request& request,
-                         turtlebot3_msgs::TakePanorama::Response& response);
+  bool takePanoServiceCb(turtlebot3_applications_msgs::TakePanorama::Request& request,
+                         turtlebot3_applications_msgs::TakePanorama::Response& response);
 
   void snap();
 

turtlebot3_panorama/launch/panorama.launch

@@ -2,7 +2,7 @@
   <!-- Camera Image Transport to raw--> I
   <node pkg="image_transport" type="republish" name="republish" output="screen" args="compressed in:=/raspicam_node/image raw out:=/camera/rgb/image_raw" />
 
-  <node pkg="turtlebot3_panorama" type="turtlebot3_panorama" name="turtlebot3_panorama">
+  <node pkg="turtlebot3_panorama" type="turtlebot3_panorama" name="turtlebot3_panorama" respawn="false" output="screen">
     <param name="default_mode" value="1"/>
     <param name="default_pano_angle" value="6.28318530718"/> <!-- 2 * Pi -->
     <param name="default_snap_interval" value="2.0"/>

turtlebot3_panorama/package.xml

@@ -23,7 +23,7 @@
   <depend>sensor_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
-  <depend>turtlebot3_msgs</depend>
+  <depend>turtlebot3_applications_msgs</depend>
   <depend>cv_bridge</depend>
   <depend>image_transport</depend>
   <depend>cmake_modules</depend>

turtlebot3_panorama/src/panorama.cpp

@@ -151,7 +151,7 @@ void PanoApp::spin()
           }
           if (take_snapshot)
           {
-            if (std::abs(ang_vel_cur) <= 0.000001) // wait until robot has stopped
+            if (std::abs(ang_vel_cur) <= 0.01) // wait until robot has stopped
             {
               snap();
               take_snapshot = false;
@@ -232,8 +232,8 @@ void PanoApp::odomCb(const nav_msgs::OdometryConstPtr& msg)
 //*************************
 // Public interface
 //*************************
-bool PanoApp::takePanoServiceCb(turtlebot3_msgs::TakePanorama::Request& request,
-                                turtlebot3_msgs::TakePanorama::Response& response)
+bool PanoApp::takePanoServiceCb(turtlebot3_applications_msgs::TakePanorama::Request& request,
+                                turtlebot3_applications_msgs::TakePanorama::Response& response)
 {
   if (is_active && (request.mode == request.CONTINUOUS || request.mode == request.SNAPANDROTATE))
   {
@@ -276,7 +276,7 @@ bool PanoApp::takePanoServiceCb(turtlebot3_msgs::TakePanorama::Request& request,
       snap_interval = request.snap_interval;
       cmd_vel.angular.z = request.rot_vel;
     }
-    if (request.mode == turtlebot3_msgs::TakePanoramaRequest::CONTINUOUS)
+    if (request.mode == turtlebot3_applications_msgs::TakePanoramaRequest::CONTINUOUS)
     {
       continuous = true;
     }