uwb_multi_range_node.py 文件源码

def __init__(self):
        self._read_configuration()

        if self.show_plots:
            self._setup_plots()

        rospy.loginfo("Receiving timestamp messages from {}".format(self.uwb_timestamps_topic))
        rospy.loginfo("Publishing multi-range messages to {}".format(self.uwb_multi_range_topic))
        rospy.loginfo("Publishing raw multi-range messages to {}".format(self.uwb_multi_range_raw_topic))
        rospy.loginfo("Publishing multi-range-with-offsets messages to {}".format(
            self.uwb_multi_range_with_offsets_topic))

        # ROS Publishers
        self.uwb_pub = rospy.Publisher(self.uwb_multi_range_topic, uwb.msg.UWBMultiRange, queue_size=1)
        self.uwb_raw_pub = rospy.Publisher(self.uwb_multi_range_raw_topic, uwb.msg.UWBMultiRange, queue_size=1)
        self.uwb_with_offsets_pub = rospy.Publisher(self.uwb_multi_range_with_offsets_topic,
                                                    uwb.msg.UWBMultiRangeWithOffsets, queue_size=1)
        self.uwb_timestamps_sub = rospy.Subscriber(self.uwb_timestamps_topic, uwb.msg.UWBMultiRangeTimestamps,
                                                   self.handle_timestamps_message)

        # Variables for rate display
        self.msg_count = 0
        self.last_now = rospy.get_time()