Add point head node and method (dependent on PR2 PointHead action).

[hironx_head] Fix tests.

hironx_head_action/CMakeLists.txt

@@ -0,0 +1,41 @@
+# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
+cmake_minimum_required(VERSION 2.8.3)
+project(hironx_head_action)
+
+# Load catkin and all dependencies required for this package
+find_package(catkin REQUIRED COMPONENTS 
+   actionlib 
+   geometry_msgs 
+   kdl_parser
+   message_filters 
+   pr2_controllers_msgs 
+   roscpp 
+   sensor_msgs 
+   trajectory_msgs 
+   tf 
+   tf_conversions)
+
+find_package(orocos_kdl REQUIRED)
+
+find_package(Boost REQUIRED COMPONENTS thread)
+include_directories(${Boost_INCLUDE_DIRS}
+   ${orocos_kdl_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+
+catkin_package()
+
+add_executable(head_action src/point_frame.cpp)
+target_link_libraries(head_action ${Boost_LIBRARIES} 
+   ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES})
+add_dependencies(head_action ${catkin_EXPORTED_TARGETS})
+
+install(TARGETS head_action
+   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
+install(DIRECTORY test launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   USE_SOURCE_PERMISSIONS)
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(catkin REQUIRED COMPONENTS rostest)
+  add_rostest(test/test-head-action.test)
+endif()

hironx_head_action/launch/head_action.launch

@@ -0,0 +1,14 @@
+<launch>
+
+<!-- A launch file to independently (re-)launch the point head action for debugging -->
+
+<group ns="head_controller" >  
+  <node name="point_head_action"
+        pkg="hironx_head_action" type="head_action" output="screen" >
+    <rosparam>
+      success_angle_threshold: 0.01
+    </rosparam>
+  </node>
+</group>
+
+</launch>

hironx_head_action/package.xml

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+<package>
+  <name>hironx_head_action</name>
+  <version>1.1.16</version>
+  <description>The head action is a node that provides an action interface for
+  pointing the head of the robot. It passes trajectory goals to the
+  controller, and reports success when they have finished executing.
+
+  Originally developed at <a href = "http://wiki.ros.org/pr2_head_action">pr2_head_action</a>
+  </description>
+  <maintainer email="[email protected]">TORK</maintainer>
+  <author email="[email protected]">Kei Okada</author>
+  <author>Stuart Glaser</author>
+  <author email="[email protected]">Isaac I. Y. Saito</author>
+  <license>BSD</license>
+  <url type="website">http://wiki.ros.org/hironx_head_action</url>
+  <url type="repository">https://github.com/start-jsk/rtmros_hironx</url>
+  <url type="bugtracker">https://github.com/start-jsk/rtmros_hironx/issues</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>actionlib</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>kdl_parser</build_depend>
+  <build_depend>message_filters</build_depend>
+  <build_depend>orocos_kdl</build_depend>
+  <build_depend>pr2_controllers_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>tf_conversions</build_depend>
+  <build_depend>trajectory_msgs</build_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>kdl_parser</run_depend>
+  <run_depend>message_filters</run_depend>
+  <run_depend>orocos_kdl</run_depend>
+  <run_depend>pr2_controllers_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>tf</run_depend>
+  <run_depend>tf_conversions</run_depend>
+  <run_depend>trajectory_msgs</run_depend>
+  <test_depend>rostest</test_depend>
+</package>