PhotoAtWaypoint

Run-time plugin that takes photos at waypoint arrivals when using waypoint follower node. Saves the taken photos to specified directory. The name for taken photos are determined by the waypoint index and timestamp(seconds). For instance /home/atas/0_1602582820.png is an sample taken image, where 0_1602582820 is the file name determined by waypoint index and time stamp. The leading digit in file name implies the waypoint index and the rest of digits at righthand side imples the time stamp when the photo was taken.

Parameters

<nav2_waypoint_follower plugin>: nav2_waypoint_follower plugin name defined in the waypoint_task_executor_plugin_id parameter in Waypoint Follower.

<nav2_waypoint_follower plugin>.enabled

Type	Default
bool	true

Description

Whether waypoint_task_executor plugin is enabled.

<nav2_waypoint_follower plugin>.camera_image_topic_name

Type	Default
string	“/camera/color/image_raw”

Description

Camera image topic name to subscribe

<nav2_waypoint_follower plugin>.save_images_dir

Type	Default
string	“/tmp/waypoint_images”

Description

Path to directory to save taken photos at waypoint arrivals.

<nav2_waypoint_follower plugin>.image_format

Type	Default
string	“png”

Description

Desired image format.