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)