All-

You may or may not have noticed that pr2_controllers_msgs/PointHeadGoal
contains a pointing frame and pointing axis in the msg API, but those
parameters are completely ignored in the current implementation of
pr2_head_action. (It currently just points the x-axis of head_tilt_link at
the target point).

I've started coding up a solution to this, but realized it might be wise to
see if anyone has solved this already. If so, patches are welcome...

Thanks!
Adam


Adam Leeper
Research Intern, Willow Garage
PhD candidate, BioRobotics Lab, Stanford University
aleeper@stanford.edu
719.358.3804