hlrc

from geometry_msgs.msg import Point

        self.logger.debug("creating lookattarget action client")

        self.lookattarget_client = actionlib.SimpleActionClient(self.base_scope + "/set/lookat", lookattargetAction)

        self.lookattarget_client.wait_for_server()

    def publish_lookat_target(self, x, y, z, blocking, frame_id='', roll=0.0):

        """publish a gaze target via mw

        :param x,y,z: position to look at (in eyes frame or frame_id)

        :param roll: side-ways motion of head

        :param blocking: True if this call should block until execution finished on robot

        """

        self.logger.debug("calling the gaze rpc (%s)..." % ("BLOCKING" if blocking else "NON-BLOCKING"))

        # create a goal to send to the action server.

        goal = lookattargetGoal()

        goal.header.frame_id = frame_id

        goal.header.stamp = rospy.Time.now()

        p = Point()

        p.x = float(x)

        p.y = float(y)

        p.z = float(z)

        goal.point = p

        goal.roll = roll

        # send the goal to the server

        if blocking:

            # send and wait:

            state = self.lookattarget_client.send_goal_and_wait(goal, execute_timeout=rospy.Duration.from_sec(MiddlewareROS.ROS_ACTION_CALL_TIMEOUT))

            if state != GoalStatus.SUCCEEDED:

                self.logger.error("%s timed out waiting for result or soemthing else went wrong" % (sys._getframe().f_code.co_name))

        else:

            # non blocking, fire & forget

            self.lookattarget_client.send_goal(goal)

        self.logger.debug("lookat rpc done")