def __init__(self, *args):
TransformListener.__init__(self)
python_actions.Action.__init__(self, args[0], args[1], args[2],
args[3])
self.name = args[0]
try:
self.head_controller = rospy.get_param(self.name +
"/head_controller")
except KeyError:
self.head_controller = "head_controller"
rospy.set_param(self.name + "/head_controller",
self.head_controller)
self.head_controller_publisher = rospy.Publisher(
self.head_controller + "/command", mechanism_msgs.msg.JointStates)
self.people_sub = rospy.Subscriber(
"/face_detector/people_tracker_measurements", PositionMeasurement,
self.people_position_measurement)
self.face_det = rospy.ServiceProxy('/start_detection', StartDetection)
