move_to_home.py 文件源码

def start_run(self, at_home_door, distance, angular):
        if at_home_door == True:
            self.brake()
            self.robot_move.move_to(x=self.last_move_goal)
            return True
        if distance > (self.line_distance + self.distance_tolerance):
            self.vel.linear.x = self.x_speed
            self.vel.linear.y = math.copysign(self.y_speed, self.move_direction)
        elif distance < (self.line_distance - self.distance_tolerance):
            self.vel.linear.x = self.x_speed * -1
            self.vel.linear.y = self.y_speed
        else:
            self.vel.linear.x = 0
            self.vel.linear.y = self.y_speed
        if math.fabs(angular) < self.angular_tolerance:
            self.vel.angular.z = 0
        elif angular > 0:
            self.vel.angular.z = -1 * self.z_speed
        else:
            self.vel.angular.z = self.z_speed
        self.cmd_move_pub.publish(self.vel)

        return False