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hhmm...ironically I get that error when the wrong device is connected to the port I roslaunched to. Maybe there is data being transmitted through ttyS0 from another device connected to it, and that might be why we "can't get the pan-tilt information."

My solution was to go through every port that had a device connected, and roslaunched to it. Eventually I found the right port name. Now I can move the PTU from the command line.

I used a program called "gtkterm" to find just the ports that had devices connected to them, rather than going through every single port in the computer:

sudo gtkterm

I hope this helps.