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Using state controller feedback to update pan and tilt values of the head #27

Closed 2scholz closed 6 years ago

2scholz commented 7 years ago

In certain circumstances the head of the pr2 moved with a very high speed when another node sends controller commands in addition to pr2_telop. This could potentially damage the pr2.

This was caused by the fact that the pan and tilt values of the node were not updated when the head was moved by a different node. To fix this problem we update the values using the controller state.

@v4hn

v4hn commented 7 years ago

+1

This issue has been a long-standing TODO in our lab and @2scholz finally fixed it.

This has been tested on our PR2.