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It appears the old way of using a PR2 controller manager is deprecated and does not work anymore in hydro (Example of a roll/pitch mount using that approach here).

Everything you need to know for using the new ROS Control approach should be explained in the ROS Control with Gazebo tutorial. Essentially, you need a URDF model with 3 links (connected via two joints). If you setup the two joint axes as required for your pan/tilt unit and load the controllers as explained in the tutorial, things should work and you should be able to command the joints into desired positions.