Like the first tracker package, there is no special difference in the control package; the difference is in the dependencies. Here, the main dependency is dynamixel_controllers. We are not using OpenCV in this package, so there's no need to include it:
cmake_minimum_required(VERSION 2.8.3) project(face_tracker_control) find_package(catkin REQUIRED COMPONENTS dynamixel_controllers roscpp rospy std_msgs message_generation ) find_package(Boost REQUIRED COMPONENTS system) add_message_files( FILES centroid.msg ) ## Generate added messages and services with any dependencies listed here generate_messages( DEPENDENCIES std_msgs ) catkin_package( CATKIN_DEPENDS dynamixel_controllers roscpp rospy std_msgs ) include_directories( ${catkin_INCLUDE_DIRS} ) add_executable(face_tracker_controller src/face_tracker_controller.cpp) target_link_libraries(face_tracker_controller ${catkin_LIBRARIES})
The complete source code of this project can be cloned from the following Git repository. The following command will clone the project repo: $ git clone https://github.com/qboticslabs/ros_robotics_projects