Hello ROS users,

I have put together a little tutorial on using tf to point your robot's 
head toward different locations relative to different frames of 
reference.  Eventually I'll get the tutorial onto the ROS wiki, but for 
now it lives at:

http://www.pirobot.org/blog/0018/

The tutorial uses the ax12_controller_core package from the ua-ros-pkg 
repository. Many thanks to Anton Rebguns for patiently helping me get 
the launch files set up.

Please post any questions or bug reports to http://answers.ros.org or 
email me directly.

Patrick Goebel
The Pi Robot Project
http://www.pirobot.org