Head Position and State
The head state topic will give you the current
pan angle (side-to-side) of the head and report boolean status flags if the robot is currently moving its head.
Note: Flags may not report 'true' values until after the first respective movement command is sent.
panfield gives you the current angle (radians) of the head. 0 is forward,
-pi/2to Sawyer's right, and
+pi/2to Sawyer's left.
isPanningis boolean field that will switch to True while the robot is executing a command.
isPanning field is initialized to True upon startup and will update thereafter.
Head (Joint) State:
- The position of the head may also be determined from the
Head Movement Control
targetsets the target angle. 0.0 is straight ahead.
speedis an integer from [0-100], 100 = max speed.
- Setting an angle in the command_head_pan topic does not gurantee the head will get to that position. There is a small deband around the reference angle around the order of +/- 0.12 radians.
# Check head position/state: $ rostopic echo /robot/head/head_state # Move (pan) head side-to-side: $ rostopic pub /robot/head/command_head_pan intera_core_msgs/HeadPanCommand -- 0.0 100