update

src/robot_behavior/src/robot_behavior/behavior_generator_node.py

@@ -604,8 +604,7 @@ class BehaviorGenerator:
             if self.controller.pan_goal[-1] == 1 or self.head_goal:
                 self.head_joint_errors = True
                 if self.look_at_position_target[-2]:
-                    robot_pose = np.copy(self.state.robot_pose)
-                    (self.x_pan_target, self.y_pan_target) = local_to_global(robot_pose, self.look_at_position_target[:2])  # local to global map target
+                    (self.x_pan_target, self.y_pan_target) = local_to_global(np.asarray([self.x_robot_pose, self.y_robot_pose, self.yaw_robot_pose]), self.look_at_position_target[:2])  # local to global map target
                 else:
                     self.x_pan_target = self.look_at_position_target[0]
                     self.y_pan_target = self.look_at_position_target[1]