teleop.py 文件源码

def init(self):
        pygame.init()
        clock = pygame.time.Clock()
        screen = pygame.display.set_mode((250, 250))

        rospy.init_node('teleop')
        self.rate = rospy.Rate(rospy.get_param('~hz', 20)) 
        self.acc = rospy.get_param('~acc', 1)
        self.yaw = rospy.get_param('~yaw', 0.25)

        self.robot_pub = rospy.Publisher('control_command', controlCommand, queue_size=1)

        self.path_record_pub = rospy.Publisher('record_state', \
                RecordState, queue_size=1)

        self.highway_game_start_pub = rospy.Publisher('highway_game_start', RecordState, queue_size=1)

        print "Usage: \n \
                up arrow: accelerate \n \
                down arrow: decelerate \n \
                left arrow: turn left \n \
                right arrow: turn right"