Use this script to make PR2 point with its right arm to different space stuff (moon, sun, pluto...).
Crappy video showcasing it (using Google Home to trigger it):
You'll need to point PR2 towards mars and give that mars deviation.
We have no compass in the robot so we can't know where he is facing initially.
Using a map created with the laser, being localized in it, and giving an orientation to the map, we could overpass this.
Usage:
rosrun point_space point_to_stars.py mars 274.05
[INFO] [WallTime: 1480587985.167889] Initializing PointToStars
[INFO] [WallTime: 1480587985.169439] Initalizing GoToPose...
[INFO] [WallTime: 1480587985.171256] Waiting for /execute_kinematic_path service...
[INFO] [WallTime: 1480587985.301177] Connected!
[INFO] [WallTime: 1480587985.303557] mars is at altitude: 0.609291017056 radians azimuth: 4.74535179138 radians.
[INFO] [WallTime: 1480587985.304757] mars is at altitude: 34.9098037725 degrees azimuth: 271.888629951 degrees.
[INFO] [WallTime: 1480587985.305576] Correcting azimuth with: 274.05
[INFO] [WallTime: 1480587985.306535] Corrected azimuth: -2.16137004898
To get the initial mars azimuth to correct run it without parameters:
osrun point_space point_to_stars.py
Usage:
scripts/point_to_stars.py planet_name mars_azimuth_correction
Available planets: moon, saturn, mars, venus, sun, uranus, jupiter, neptune, pluto
Current mars azimuth: 267.901302117
Example:
scripts/point_to_stars.py mars