Component Short Description:

PTU = Pan Tilt Unit to rotate a camera in the webots simulator.

pan = rotate left/right, tilt = rotate up/down. The keys JL rotate left/right, the keys IK rotate up/down. (click in webots graphics window first)

ComponentMode:

• servo: PTU can move
• move: PTU can move and sends data with position and sends event if target position is reached

DomainPTU::CommPTUMoveRequest data;
// positive=left negative=right [radians]
data.setPan(pan);
// positive=down negative=up [radians]
data.setTilt(tilt);
// move modes:
// PAN_RELATIVE TILT_RELATIVE PAN_TILT_RELATIVE
// PAN_ABSOLUTE TILT_ABSOLUTE PAN_TILT_ABSOLUTE
data.set_move_mode(DomainPTU::PTUMoveFlag::PAN_TILT_ABSOLUTE);
COMP -> movePTUSendServiceOut->send(data);

• ComponentPTUServer
• ComponentGazeboCameraControl

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Reads on request the position etc. of the mobile robot: CommBasicObjects.CommBaseState

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Reads periodically the position etc. of the mobile robot: CommBasicObjects.CommBaseState

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Writes periodically the position and orientation of the PTU: CommBasicObjects.CommDevicePoseState

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Sends an event: DomainPTU.PTUMoveStatus

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Reads periodically movement commands: DomainPTU.CommPTUMoveRequest

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request: DomainPTU.CommPTUMoveRequest

answer: DomainPTU.CommPTUMoveResponse

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Writes on request: DomainPTU.CommMobilePTUState

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