Acquire images after robot has rotated - need help
Hi All,
I am looking for a bit of advice on some work I want to complete.
I am using ROS Kinetic, Ubuntu 16.04LTS and the Turtlebot3 waffle-pi with a raspberry pi3 camera.
I have written a python script to acquire images every 8 seconds. Once the image is acquired and saved, I am rotating the robot 5 degrees clockwise, but I am doing this manually (using teleop keys) and I would like this to be all done through code.
Here is my current python code to acquire images:
from time import sleep
from picamera import PiCamera
camera = PiCamera()
camera.start_preview()
camera.resolution = (2592, 1944)
camera.framerate = 15
sleep(2)
for filename in camera.capture_continuous('img{counter:03d}.jpg'):
print('Captured %s' % filename)
sleep(8) # wait 8 secs per image
What I would like to do is;
- run this script once (not every 8 seconds)
- once the image is acquired, a message/command is sent to the Remote PC to run the code to rotate the robot 5 degrees clockwise
- Once the rotation is complete, send a message/command to the robot to acquire another image (or to run the python script)
- And repeat for 360 degrees
So I assume that my next step is to create the code/package to rotate the robot 5 degrees? But I am unsure how to send messages to the robot or remote PC when each script is complete.
Any advice/guidance is very much appreciated.