Pablo,
Perfect. The code is almost complete, we initially forked your ua_erratic_player package but definitely is better to patch your package.
Yep. It's the most straight forward method.
mmm but anyways sooner or latter we'll have to publish in a JointStateArray and connect it with a robot_state_publisher given that we'll need the vision_ptz frame to locate the vision device point cloud. This info can be published also by the erratic node. Do you agree? :-?
One question more. Do you have' any erratic specification document where I may find precise measurements of the sonar devices arrangement? I need a more detailed urdf description to get all the sonar devices frames. This is needed to fill the Range message properly. The problem is that none of the specification documents of erratics that I find contain such information.Definitely. I was thinking again in a "look at" method because initially I though that the ranger actuator was a ptz too.