hlrc

    lookattarget_ac = create_action_client<hlrc_server::lookattargetAction>(scope + "/lookat");

void MiddlewareROS::publish_lookat_target(float x, float y, float z, const string frame_id, bool blocking, float roll)

{

    hlrc_server::lookattargetGoal goal;

    goal.point.header.frame_id = frame_id;

    goal.point.header.stamp = ros::Time::now();

    geometry_msgs::Point &p = goal.point.point;

    p.x = x;

    p.y = y;

    p.z = z;

    goal.roll = roll;

    //send

    lookattarget_ac->sendGoal(goal);

    if (blocking){

        bool finished_before_timeout = gazetarget_ac->waitForResult(ros::Duration(ROS_ACTION_CALL_TIMEOUT));

        if (!finished_before_timeout){

            printf("> ERROR: blocking call timed out!\n");

        }

    }

}