controller.py 文件源码

def lookAt(self, pos, sim=False):
        goal = PointHeadGoal()

        point = PointStamped()
        point.header.frame_id = self.frame
        point.point.x = pos[0]
        point.point.y = pos[1]
        point.point.z = pos[2]
        goal.target = point

        # Point using kinect frame
        goal.pointing_frame = 'head_mount_kinect_rgb_link'
        if sim:
            goal.pointing_frame = 'high_def_frame'
        goal.pointing_axis.x = 1
        goal.pointing_axis.y = 0
        goal.pointing_axis.z = 0
        goal.min_duration = rospy.Duration(1.0)
        goal.max_velocity = 1.0

        self.pointHeadClient.send_goal_and_wait(goal)