Only released in EOL distros:
Package Summary
The head action is a node that provides an action interface for pointing the head of the configured robot. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: maintained
- Maintainer: Bence Magyar <bence.magyar AT pal-robotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pal-robotics/head_action.git (branch: indigo-devel)
Contents
See joint_trajectory_controller for information on the controller that the head action communicates with.
Usage
An example of using the head action on TIAGo can be found on the video below.
ROS API
The ROS API consists of three parts: private parameters, an action server that achieves pointing actions, and an interface to a trajectory controller.
Parameters
Parameters
~pan_link (string, default: head_pan_link)- The name of the pan link of the head
- The name of the tilt link of the head
- The maximum angular error from the desired pointing direction for which the action reports success.
Action interface
The joint trajectory action provides an action server (see actionlib) that takes in goals of the type control_msgs/PointHeadGoal. It reports success when the head is pointed at the target.
Subscribed Topics
~point_head_action/goal (control_msgs/PointHeadActionGoal)- Describes where to point the head along with some constraints for the movement.
- A request to cancel a specific goal.
Published Topics
~point_head_action/feedback (control_msgs/PointHeadActionFeedback)- Feedback describing the progress the mechanism is making on pointing the head.
- Provides status information on the goals that are sent to the action.
- empty
Controller interface
Subscribed Topics
~state (control_msgs/JointTrajectoryControllerState)- Listens to the state of the controller.
Published Topics
~command (trajectory_msgs/JointTrajectory)- Sends joint trajectories to the controller.
