Hi Marc,

There are at least two ways to model the pan-tile camera.

You can create an urdf model similar to the head on the PR2 with just one sensor and instantiate two controllers (probably joint_position_controllers) from the robot_mechanism_controllers class, and use the pr2_controllers stack to send position commands to your camera.  In that case, you can check out the single actuated link simulation tutorial to start.

Alternatively, gazebo has a built-in ptz controller, which you can use directly and talk over the gazebo I-face, however, it should not be too much additional effort to write a custom gazebo_plugin(see GazeboRosTemplate plugin) to do the same over ros topic, service or action.

Let me know if this helps.
John


On Sat, Sep 25, 2010 at 4:20 AM, MightTower <marcjoeris@uni-koblenz.de> wrote:

Hello,
we need a Pan Tilt unit for a camera in our simulation using ROS and Gazebo.
I read that there is no way to control/change joint position/orientation
directly.
What other possibilities we have to change the camera view dynamically?
Is there something like a default pan tilt unit?
Thanks
Marc
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