Hi, thanks a lot for your help. I will post my system when i switch back to ubuntu. Maybe you are right and its easier to work with positioning of the link directly, should do it for me. But learning new thinks is always good and i am really interested in the right solution. Thanks for your time. Marc -- View this message in context: http://ros-users.122217.n3.nabble.com/Pan-Tilt-Unit-in-Simulation-tp1578788p1585080.html Sent from the ROS-Users mailing list archive at Nabble.com.