def move_pan_tilt(self):
if self.guardian:
if self.pan != 0 or self.tilt != 0:
self.pan = 0
self.tilt = 0
pan_move = Pan_tilt_mess()
pan_move.pan = 0
pan_move.tilt = 0
pan_move.reset = 1
self.pub_pan_tilt.publish(pan_move)
else:
pan_move = Pan_tilt_mess()
pan_move.pan = self.pan
pan_move.tilt = self.tilt
pan_move.reset = 0
self.pub_pan_tilt.publish(pan_move)
