Turtlebot3 Navigating while continiously acquiring images
I am looking to begin to carry out some basic experimental work with my robot, Turtlebot3 Waffle-pi.
I am using ROS Kinetic & Ubuntu 16.04 LTS.
I have a raspberry pi camera in operation on the robot.
To date I have the camera functioning and acquiring images, but this is all done manually if that makes sense.
What I am looking to do now is use the map of the space that I built using the LiDAR on the robot, and to create a desired path around the space. As the robot will travel this predetermined path, I would want it to begin to acquire images every 2-3 seconds (this can be finalised later after some trial and error) and then save these images with a time stamp to a desired folder path.
To date, I have worked through ROS beginner tutorials, the Turtlebot3 manual and some other tutorials focused on using the raspberry pi camera (links are at the end of this post).
I have done some searching online for some material and guidance on the steps that I have laid out above but cannot seem to find anything, maybe I am looking in the wrong places....
Would anyone have some links or material that they could provide me with on this to get me started? Maybe I am getting ahead of myself and need to carry out some more basic testing, I am open to all ideas/guidance.
So in summary, I am looking to;
- Create a map of a space (complete)
- Choose a predetermined path for the robot to take (not started)
- Have robot acquire images every set number of seconds, save the image with a time stamp to a desired folder path (not started)
- Continue this imaging until path is complete (not started)
Any help would be greatly appreciated.
Thanks in advance.
http://wiki.ros.org/ROS/Tutorials