Action Tutorial

Send and receive messages between client and server using actions used in ROS !!

Base Algorithm

• Image Stitching: Image stitching algorithm using OpenCV API.

Basic Concept

• Action tutorial Kor: Explain basic concept of Action in KOR version.

Description

• Form: Class & Multi thread
• Node: Client, Server
• Subscribe: Two Images of Realsense Camera
• Publish: Panorama Image
• Action:
  • Client: To give two images that have sensor_msgs::Image type and Index for Server
  • Server: To give Panorama image for Client using two images from Client

1. Prerequisites

1.1 Ubuntu and ROS

Ubuntu 64-bit 18.04. ROS Melodic. ROS Installation

1.2. Action

Follow Actionlib \ Follow Action tutorials.

1.3 OpenCV Installation

Follow OpenCV

• Install appropriate OpenCV version: Here.

1.4 Intel RealSense ROS package and SDK

Follow realsense-ros

2. Build Action_tutorial

Clone the repository and catkin_make:

    $ cd ~/catkin_ws/src
    $ git clone https://github.com/SungJaeShin/Action_tutorial.git
    $ cd ../
    $ catkin build
    $ source ~/catkin_ws/devel/setup.bash    

3. Run two cameras and action

Open three terminals, run multi camera, client node, and server node respectively.

    $ roslaunch Action_tutorial multi_cam.launch
    $ rosrun Action_tutorial client 
    $ rosrun Action_tutorial server 
    $ (option) rqt_image_view 

4. Save panorama image in your PC

Change three variables "save_pano_dir" in makePanoramaImage function of server node !!