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Head Tracking Example
Description: Shows how to make the head of the PR2 follow the gripper.Tutorial Level: BEGINNER
Contents
(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!
