All-<br><br>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).<br>
<br>I&#39;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...<br><br>Thanks!<br>Adam<br><br><br clear="all">Adam Leeper<br>Research Intern, Willow Garage<br>
PhD candidate, BioRobotics Lab, Stanford University <br><a href="mailto:aleeper@stanford.edu">aleeper@stanford.edu</a><br>719.358.3804<br>