Gaze at

[SomeUserName1]

Changes for the riseconf demo Gaze at, singing, neck direction

[elggem]

Hi,

great pull request, good work! I had to figure out what changes were made, so I made a list:

• Fix the continous/continos typo bug in dynamic reconfigure.

• Cleanup robot.launch file

• Minor bugfix in face_tracker_node.py

• Add static_transform_publisher to robot launch

• Add dependency for actionlib and new action for performing Gaze.

• Use Gaze action in action_ctrl.py

• Add sing predicate to ghost in action_node.py, actions.scm

Maybe in the future try documenting in the pull request description changes in more detail, so the reviewer has an easier job.

My only blocking question is about the perception of where the robot is gazing at. As I can see here, you are subscribing to /safe/Neck_Rotation_controller/command which can have arbitrary publishing rate, and then piping that straight to netcat for perception. Might it make sense to throttle this either in code or by republishing using the same method as faces_throttled? Which one is better @jdddog might have an opinion on!

[SomeUserName1]

@jdddog shall i take the neck stuff out or rather, cap the rate or create a message to only publish on request (and register when served)