|Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.|
Head Tracking ExampleDescription: Shows how to make the head of the PR2 follow the gripper.
Tutorial Level: BEGINNER
(This example was presented in a Google I/O talk by Ken Conley and Brian Gerkey.)
Create a file, for example, follow_gripper.py, and paste the following code into it:
1 # Head tracking example using rosh 2 3 # Create goal message: origin of wrist frame 4 target = msg.geometry_msgs.PointStamped( header = Header(frame_id = 'r_wrist_roll_link') ) 5 goal = msg.pr2_controllers_msgs.PointHeadGoal(target=target, min_duration=Duration(0.1)) 6 7 #publish 8 rospy.loginfo("Publish loop starting...") 9 while ok(): 10 11 topics.head_traj_controller.point_head_action.goal(goal = goal) 12 rospy.sleep(0.05) 13 14 rospy.loginfo("Exiting...")
Run this from the command line as follows:
rosrun rosh rosh follow_gripper.py
Move the right arm and you should see the head following the gripper!