Goal definition:
- geometry_msgs/PoseWithCovariance
- position of a human that robot should turn to
Feedback definition:
- geometry_msgs/Quaternion
- current orientation of microphone
- std_msgs/String
- information about link that is rotating (head/torso)
Result definition:
- std_msgs/String
- status of an finished action, information about which link has turned (head/torso)
Node currently calls two actions:
- joystickPriority (
twist_mux_msgs::JoyPriorityAction, default:/joy_priority_action) - changes priority of joystick controller, - pointHead (
control_msgs::PointHeadAction, default:/head_controller/point_head_action) - move head to look at given point.
Node currently listens to two topics:
- odometry (
nav_msgs/Odometry, default:/mobile_base_controller/odom) - current position of the robot, - jointStates (
sensor_msgs/JointState, default:/joint_states) - current state of joints (we are interested in head state), - joyPriorityCallback(
std_msgs::Bool, default:/joy_priority) - state of joystick priority.
Node publishes on one topic:
- velocity (
geometry_msgs/Twist, default:/key_vel) - velocity commands to mobile base controller.
odometry_topic- topic name to get odometry from robot,joint_state_topic- topic name to get robot's joint state,joy_priority_topic- topic name to get joystick priority,command_velocity_topic- topic name to publish velocities,joy_priority_action- action name to change joystick priority,point_head_action- action name to rotate head to point in given direction,served_action_name- name of action that this node serves,use_joy_action- flag whether node should handle joystick priority,human_tf- name of human frame,torso_turning_velocity- max velocity that should be used for turning the torso,head_turning_velocity- max velocity that should be used for turning the head,base_link- base link of the robot,max_head_rotation- maximum angle for head-only rotation.