point_head.cpp

Go to the documentation of this file.

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>
#include <pr2_controllers_msgs/PointHeadAction.h>

// Our Action interface type, provided as a typedef for convenience
typedef actionlib::SimpleActionClient<pr2_controllers_msgs::PointHeadAction> PointHeadClient;

class RobotHead
{
private:
  PointHeadClient* point_head_client_;

public:
  RobotHead()
  {
    //Initialize the client for the Action interface to the head controller
    point_head_client_ = new PointHeadClient("/pan_tilt_trajectory_controller/point_head_action", true);

    //wait for head controller action server to come up
    while(!point_head_client_->waitForServer(ros::Duration(5.0))){
      ROS_INFO("Waiting for the point_head_action server to come up");
    }
  }

  ~RobotHead()
  {
    delete point_head_client_;
  }

  void lookAt(std::string frame_id, double x, double y, double z)
  {
    //the goal message we will be sending
    pr2_controllers_msgs::PointHeadGoal goal;

    //the target point, expressed in the requested frame
    geometry_msgs::PointStamped point;
    point.header.frame_id = frame_id;
    point.point.x = x; point.point.y = y; point.point.z = z;
    goal.target = point;

    //we are pointing the high-def camera frame
    //(pointing_axis defaults to X-axis)
    goal.pointing_frame = "kinect2_depth_frame";
    goal.pointing_axis.x = 1;
    goal.pointing_axis.y = 0;
    goal.pointing_axis.z = 0;

    //take at least 0.5 seconds to get there
    goal.min_duration = ros::Duration(0.5);

    //and go no faster than 1 rad/s
    goal.max_velocity = 1.0;

    //send the goal
    point_head_client_->sendGoal(goal);

    //wait for it to get there (abort after 2 secs to prevent getting stuck)
    point_head_client_->waitForResult(ros::Duration(2));
  }

  void shakeHead(int n)
  {
    int count = 0;
    while (ros::ok() && ++count <= n )
    {
      //Looks at a point forward (x=5m), slightly left (y=1m), and 1.2m up
      lookAt("base_link", 2.0, 1.0, 1.2);

      //Looks at a point forward (x=5m), slightly right (y=-1m), and 1.2m up
      lookAt("base_link", 2.0, -1.0, 1.2);
    }
  }
};

int main(int argc, char** argv)
{
  //init the ROS node
  ros::init(argc, argv, "robot_driver");

  RobotHead head;
  head.shakeHead(3);
  // head.lookAt("map", 2.4908,-1.5124,0);
}