tms_sd_theta

tms_sd_theta

tms_sd_theta is a package for formatting CompressedImage msg to Tmsdb msg and sending it to tms_db_writer.

Received CompressedImage msg is the jpeg image taken by a 360-degree camera.

Usecase

1. Run tms_db_writer or tms_db_manager

Detail description is here.

Receive Tmsdb from tms_sd_theta and store them in ROS2-TMS database.

Writer

ros2 launch tms_db_manager tms_db_writer.launch.py db_host:=localhost db_port:=27017 init_db:=true

Reader and Writer

ros2 launch tms_db_manager tms_db_manager.launch.py db_host:=localhost db_port:=27017 init_db:=true

2. Run tms_sd_theta

After running the following command, a node is executed that subscribes CompressedImage and publishes Tmsdb including the CompressedImage data.

ros2 launch tms_sd_theta tms_sd_theta_launch.py input/theta/compressed:=/topic/of/compressed_image theta_name:=theta_name

Inputs / Outputs

Inputs

Name	Type	Description
/input/theta/compressed	sensor_msgs::msg::CompressedImage	a jpeg image taken by a 360-degree camera

Outputs

Name	Type	Description
/tms_db_data	tms_msg_db::msg::Tmsdb	Tmsdb including CompressedImage

Parameters

Name	Type	Default Value	Description
theta_name	string	theta_name	360-degree camera name to identify ground from the ROS2-TMS database