move_in_robot.py 文件源码

def turn(self, goal_angular):
        # ???????????????,??????????????
        # ????,????
        rospy.loginfo('[robot_move_pkg]->move_in_robot.turn will turn %s'%goal_angular)
        current_angular = start_angular = self.robot_state.get_robot_current_w()#??????????

        r = rospy.Rate(100)
        delta_angular = current_angular - start_angular
        move_velocity = g_msgs.Twist()
        while not rospy.is_shutdown() :
            if abs(delta_angular - abs(goal_angular)) < self.turn_move_stop_tolerance:
                break
            current_angular = self.robot_state.get_robot_current_w()
            move_velocity.angular.z = math.copysign(self.w_speed, goal_angular)
            delta_angular += abs(abs(current_angular) - abs(start_angular) )
            start_angular = current_angular
            self.cmd_move_pub.publish(move_velocity) #???????????
            r.sleep()
        self.brake()