Add: Area zoom ROS service for Q62 PTZ camera

stephen-cpr · stephen-cpr · commit d90e5d1c341e · 2024-07-15T09:50:45.000-04:00
Signed-off-by: Stephen Phillips &lt;stphillips@clearpathrobotics.com&gt;
diff --git a/clearpath_outdoornav_msgs/clearpath_camera_msgs/CMakeLists.txt b/clearpath_outdoornav_msgs/clearpath_camera_msgs/CMakeLists.txt
@@ -13,6 +13,12 @@ find_package(catkin REQUIRED
 #  FILES
 #)
 
+add_service_files(
+  FILES
+    q62AreaZoom.srv
+)
+
+
 ## Add actions
 add_action_files(
   DIRECTORY
diff --git a/clearpath_outdoornav_msgs/clearpath_camera_msgs/srv/q62AreaZoom.srv b/clearpath_outdoornav_msgs/clearpath_camera_msgs/srv/q62AreaZoom.srv
@@ -0,0 +1,9 @@
+# Service definition to re-position a pan-tilt-zoom camera to a specific location with a specified zoom
+# Used primarily for box-zoom like functionality
+
+float32 x # X location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)
+float32 y # Y location to move camera to, expressed as a fraction of image dimension (0 to 1, where 0.5 is current center)
+float32 zoom_factor
+---
+bool success
+string message
