adjust_pose.py

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#!/usr/bin/env rosh
# Copyright (c) 2013, Oregon State University
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# Author Dan Lazewatsky/lazewatd@engr.orst.edu

import roslib; roslib.load_manifest('projector_interface')
from pr2_python.geometry_tools import *
import numpy as np

for pose in topics.head_pose[:]:
    phi,theta,psi = quaternion_to_euler(pose.pose.orientation)
    theta += np.radians(5)
    psi   += np.radians(1.5)
    pose.pose.orientation = euler_to_quaternion(phi,theta,psi)
    topics.head_pose_adjusted(pose)