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Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Author: Stuart Glaser
- License: BSD
- Repository: wg-ros-pkg
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/tags/pr2_controllers-1.4.0
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/branches/pr2_controllers-1.6
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Author: Stuart Glaser
- License: BSD
- Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_controllers/trunk
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/PR2/pr2_controllers.git (branch: hydro-devel)
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: indigo-devel)
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: maintained
- Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
- Author: Stuart Glaser
- License: BSD
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: kinetic-devel)
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Package Summary
The PR2 head action is a node that provides an action interface for pointing the head of the PR2. It passes trajectory goals to the controller, and reports success when they have finished executing.
- Maintainer status: unmaintained
- Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
- Author: Stuart Glaser
- License: BSD
- Source: git https://github.com/pr2/pr2_controllers.git (branch: melodic-devel)
Contents
See robot_mechanism_controllers/JointSplineTrajectoryController for information on the controller that the head action communicates with.
Usage
An example of using the head action on the PR2 can be found in the Moving the Head tutorial.
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 pr2_controllers_msgs/PointHeadGoal. It reports success when the head is pointed at the target.
Subscribed Topics
~point_head_action/goal (pr2_controllers_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 (pr2_controllers_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 (pr2_controllers_msgs/JointTrajectoryControllerState)- Listens to the state of the controller.
Published Topics
~command (trajectory_msgs/JointTrajectory)- Sends joint trajectories to the controller.