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=== Controlling the Pan and Tilt Joints ===

The Pan-Tilt system can be controlled using its [[position_controllers|position_controllers/JointTrajectoryController]]. You can send [[http://docs.ros.org/jade/api/trajectory_msgs/html/msg/JointTrajectory.html|trajectory_msgs::JointTrajectory]] to the '''pan_tilt_trajectory_controller/command''' topic.

For this demonstration we will launch the Armadillo robot in Gazebo:
{{{
$ roslaunch armadillo2 armadillo2.launch gazebo:=true
}}}

Now, Lets move the pan and tilt by typing:
{{{
$ rosservice call /services/pan_tilt_mover "pan: 0.2            
tilt: 0.1"
}}}
This will move the head to the position of 0.2 radians to the left and 0.1 radians down. 

You can also specify desired joints goals by publishing the desired angles to the '''pan_tilt_trajectory_controller/command''' topic.

Play with the angles and watch the pan-tilt system move in the Gazebo window.

Note: 
1. Positive values will make the system turn left and down.
2. The limits of the head's angles are π/6 up, 50π/180 down and π/4 to each side.

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