[fetch] Correct head orientation for look-at

[Affonso-Gui]

Rotates head end-coords such that z axis faces forward in order to fix look-at method glitch (always faces down).

[k-okada]

please paste irtviewer image showing before and after head end coordinates, also code that reproduce your problem will help us (then I'll add test code to https://github.com/jsk-ros-pkg/jsk_robot/blob/master/jsk_fetch_robot/fetcheus/test/test-fetcheus.l)

[Affonso-Gui]

The following images show fetch's head-end-coords and (orient-coords-to-axis (send *fetch* :rarm-end-coords) (v- (send (send *fetch* :rarm-end-coords) :worldpos) (send (send *fetch* :head-end-coords) :worldpos))), used on look-at inverse-kinematics-loop-for-look-at calculation, before and after changes, respectively, when submitted to:

(send *fetch* :init-pose)
(send *fetch* :look-at-hand :rarm)

BEFORE

AFTER

[k-okada]

Thank you, committed with test code #773

[k-okada]

@Affonso-Gui please create branches within your repository.

[Affonso-Gui]

Sorry about that, my mistake.

[knorth55]

Can you remove these branches?

[k-okada]

I have removed closed/merged branch, @Affonso-Gui please check
dce7806
00c44be
b4421e8

[Affonso-Gui]

@k-okada Checked.
@knorth55 Deleted 1 to 4. patch5 seems to still be active on #774 . (Apologize for the mistake on uploading several similar and with non-clear name branchs)

[pazeshun]

You can change PR branch.
So you can move patch5 branch to your fork repository, change PR branch to that branch and remove patch5 from this repository.
Sorry, fake information...
You can just make new PR with the branch in your fork repository.