Actuates the Logitech Orbit QuickCam via ROS and libwebcam library.

The following components are involved in controlling the camera:

• ROS - Robot Operation System
• CreeperCam.cc - Based on stephanie’s code for actuating the camera using libwebcam library.
• controls.cc - Class for camera actuating controllers.
• cam_actuator_node.py - ROS node for actuating the camera. Listens to IntArray messages ([Pan,Tilt,Zoom]) on /logitech_cam/camera_instr. Zoom value is ignored, and has to be handled by preprocessor.
• libwebcam - Library for actuating and controlling usb cameras. libwebcam0 in Ubuntu synaptic package manager.
• usb_cam - ROS library for capturing images from camera (optional for actuating the camera).

$ rosrun camera_actuator camera_actuator_node

Randomly selected commands from a list of commands can be sent to the camera by:

$ rosrun camera_actuator command_generator -c <command list> -t <time duration> -f <frequence>

E.g.

$ rosrun camera_actuator command_generator -c [ [150,0,0],[-150,0,0],[0,100,0],[0,-100,0],[0,0,10],[0,0,-10] ] -t 10 -f 1

TODO:

• Console prompt to generate commands

TODO: It would be useful to have all available controls supported for the ros package

• array of relative displacements, [pan, tilt, zoom]. Subscribes to the topic /logitech_cam/camera_instr

• array of absolute displacements

Workspace limits are hard coded in c++. TODO: create rosparams for the limits

• The package does not give any image outputs at this time. For reading images, the package usb_cam may be used.
• executed commands - A valid command with respect to the workspace limits is executed and published on the topic /logitech_cam/camera_executed