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PTU46

Runs the Directed Perception PTU46

Subscribed Topics

~cmd (sensor_msgs/JointState)

• Desired position

Published Topics

~state (sensor_msgs/JointState)

• Current pan/tilt position

Parameters

~hz (Integer, default: 10)

• Polling frequency

~port (String, default: /dev/ttyUSB1)

• Filename for connection

~baud (Integer, default: 9600)

• Baud Rate

Parameters Set

~min_tilt, ~max_tilt, ~min_pan, ~max_pan (Float)

• Position limits in Radians

~min_tilt_speed, ~max_tilt_speed, ~min_pan_speed, ~max_pan_speed (Float)

• Speed limits in Radians/second

~tilt_step, ~pan_step (Float)

• Smallest possible movement