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Pan tilt look-at controller #112
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Not sure if ros_controllers has an implementation -- but that sounds like http://docs.ros.org/api/control_msgs/html/action/PointHead.html |
If the We have a node that does this, but the code is currently not public. @mikepurvis, if we make it available, would you put it in shape (make sure it's robot-agnostic, check docs, write tests) to be added as part of |
As it might be related: (It's WIP and not yet integrated into ros_control...) |
@adolfo The reem_head_action that we've been using is really close to the former pr2_head_action, which is quite wired for the pr2, but nothing serious (topic name, assumptions about pan range). I started working on one that brings these 2 together by using the pr2_head_action from the pr2 catkin package, but haven't had time yet to test it. I was looking for robots that have public simulation and are in need of a similar functionality, but couldn't find many that is not from PAL :) https://github.com/bmagyar/head_action I think with the code from PAL we could contribute a bit to this, since @jordi-pages fixed some issues. I could also spend a little bit more time on this to finish it properly and make tests with several robots. The package ownership could be transferred to the PAL account. |
@adolfo-rt I'd love to, but the timeline would be on the order of months. In terms of improving the accessibility of these devices to our users, I suspect that a generic PTU interactive marker server might have more impact in the short term. |
I agree with @bmagyar that fusing the reem_head_action from his account with the in-house version in PAL and transferring it to the PAL account would be the best starting point. |
I will take a look at what else needs to be cleaned there, I'm familiar with creating new controllers already ;) What I would need help with, is a list of robots that I could test this on. At the time I started working on this I was unable to find a PR2 that worked on hydro (I guess this changed now), and could only find a Robonaut2 that is unofficial and for some reason it was blowing up in my gazebo. I would appreciate if some of you could drop a few links to working simulation for robots that need pan-tilt. |
Unfortunately, I don't have a good example of a full robot simulator. The FLIR PTUs typically go on Husky with a SICK or ethernet camera attached—similar story with the Axis PTU cams. FLIR D46 does have a description, but I'm not actually sure what's required to get from a description to a gazebo plugin. |
This should be fairly simple. I'm not sure how motivated you are to set up such a unit in gazebo, but a model could be added that has a pedestal with this pan-tilt unit on top of it with a camera. Proving how great the controller is on REEM and REEM-C might be a bit biased if I do it :) I'd like to have something different that should also work. |
@bmagyar you could take a look at this two robots: The Pi Robot: and the UBR-1 robot (which it is stated to work with Hydro and Gazebo 1.9): |
I moved the repo to the PAL organization, if you'd like to track it. |
We've shipped a number of flir PTUs, as well as some Axis IP cameras with integrated pan-tilt— it'd be great to have a controller with interfaces for look at, follow, etc.
Does something like this exist?
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