No feedback from PR2 head trajectory controller

[pidipidi]

Hello,

We have two PR2 robots. I am trying to control the head of a PR2 using an actionlib package with a topic "/head_traj_controller/point_head_action." Problem is that the PR2 does not move its head at all. I found the PR2 does not return any feedback through a topic, "/head_traj_controller/point_head_action/feedback," after I send a command. I checked another PR2 which properly provides feedback message after sending the same command. I also tried to stop, re-load, and start the controller using "pr2_controller_manager." There was no change.

I think there is no hardware issue since the joint trajectory action controller works without any problem using "head_traj_controller/joint_trajectory_action." Could you tell me any instruction to find the cause of this problem?

Best,
Daehyung

[UltronDestroyer]

What does your PR2 say when you type (when the robot has been started and roslaunch /etc/ros/robot.launch has been run)

rostopic list

what about

locate head_traj_controller

[pidipidi]

I finally found the cause of problem. A PR2 robot, which was upgraded into Indigo long time ago, has 'head_mount_link', but recently upgraded robot has 'head_mount_kinect_link' instead of 'head_mount_link.' I don't know why two robots have different URDF structure in this moment. After changing a target frame name when I create a command message, it works without any problem.

Thank you!!