neck_r joint rotate opposite direction

[taichiH]

For example, set the desired neck_r joint angle to 0.8 rad.
Like the below image, neck_r joint rotates opposite direction.

rostopic echo /head_controller/state

header: 
  seq: 2129
  stamp: 
    secs: 1557207691
    nsecs: 187799020
  frame_id: ''
joint_names: [neck_y_joint, neck_p_joint, neck_r_joint]
desired: 
  positions: [0.0, 0.0, 0.08]
  velocities: [0.0, 0.0, 0.0]
  accelerations: [0.0, 0.0, 0.0]
  effort: []
  time_from_start: 
    secs: 0
    nsecs:         0
actual: 
  positions: [0.0, 0.0, -0.07998672127723694]
  velocities: [0.0, 0.0, 0.0]
  accelerations: []
  effort: []
  time_from_start: 
    secs: 0
    nsecs:         0
error: 
  positions: [0.0, 0.0, 0.159986721277237]
  velocities: [0.0, 0.0, 0.0]
  accelerations: []
  effort: []
  time_from_start: 
    secs: 0
    nsecs:         0
---

This is the entir sample code.

#include <aero_std/AeroMoveitInterface.hh>

int main(int argc, char **argv)
{
  ros::init(argc, argv, "fk_sample_node");
  ros::NodeHandle nh;
  aero::interface::AeroMoveitInterface::Ptr robot(new aero::interface::AeroMoveitInterface(nh));

  ROS_INFO("reseting robot pose");
  robot->setPoseVariables(aero::pose::reset_manip);
  robot->sendModelAngles(3000);
  sleep(3);

  robot->setRobotStateToCurrentState();

  double neck_r = 0.08;
  aero::joint_angle_map joint_angles;
  robot->getRobotStateVariables(joint_angles);
  joint_angles[aero::joint::neck_r] = neck_r;
  ROS_INFO("neck r moves from %f to %f", joint_angles[aero::joint::neck_r], neck_r);

  ROS_INFO("moveing neck r");
  robot->setRobotStateVariables(joint_angles);
  robot->sendModelAngles(2000);
  sleep(3);

  ROS_INFO("node finished");
  ros::shutdown();
  return 0;
}