/look_at_with_style#

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/look_at_with_style Quick Facts

Category

Expressive interactions

Message type

hri_actions_msgs/LookAtWithStyle

Direction

⬅️ you normally publish to this topic.

Set a target for the robot to look at, while letting you configure how the gaze will be performed.

Quick snippets#

Publish data on the topic#
$ rostopic pub /look_at_with_style hri_actions_msgs/LookAtWithStyle # press Tab twice to complete

How to use in your code#

Publish to the topic using Python#
 1import rospy
 2from hri_actions_msgs.msg import LookAtWithStyle
 3
 4if __name__ == "__main__":
 5
 6  rospy.init_node("publisher")
 7
 8  pub = rospy.Publisher("/look_at_with_style", LookAtWithStyle, queue_size=10)
 9
10  rate = rospy.Rate(10) # 10Hz
11
12
13  msg = LookAtWithStyle()
14
15  while not rospy.is_shutdown():
16
17     # check hri_actions_msgs/LookAtWithStyle
18     # structure to fill the parameters. Eg:
19     # msg.data = ...
20     pub.publish(msg)
21
22     rate.sleep()
Publish to the topic using C++#
 1#include <ros/ros.h>
 2#include <hri_actions_msgs/LookAtWithStyle.h>
 3
 4int main(int argc, char **argv)
 5{
 6  ros::init(argc, argv, "publisher");
 7  ros::NodeHandle n;
 8
 9  ros::Publisher pub = n.advertise<hri_actions_msgs::LookAtWithStyle>("/look_at_with_style", 10);
10
11  ros::Rate loop_rate(10); // 10Hz
12
13  while (ros::ok())
14  {
15     hri_actions_msgs::LookAtWithStyle msg;
16     // check hri_actions_msgs/LookAtWithStyle
17     // structure to fill the parameters. Eg:
18     // msg.data = ...
19     pub.publish(msg);
20
21     ros::spinOnce();
22     loop_rate.sleep();
23  }
24  return 0;
25}