head_camera_motor_driver_wiki

The mechanism is based on a hi-tech servo and is controlled by an arduino.

Currently the driver only works under indigo (hydro is not supported)

To launch the motor driver :

roslaunch mbot_head_camera_driver head_camera_driver.launch

To move the motor to a specific position :

rostopic pub /cmd_head_camera_motor std_msgs/UInt16 "data: 45"

• min value : 45
• max value : 95

If you command the motor to a value outside the range, the driver by default moves the motor to the minimum or maximum supported angle accordingly

The motor head driver also publishes the state of the motor in the topic :

/head_camera_motor_joint_state

To setup the udev rule for the head motor, see UDEV rules