amosero 文件源码

def listener():
    global odom_pub,left_motor_pub,left_motor_speed_pub,right_motor_pub,right_motor_speed_pub

    #subscribing to required topics
    rospy.Subscriber("/cmd_vel", Twist, cmd_velCb)
    rospy.Subscriber('imu_data',Imu,imuCb)
    rospy.Subscriber('north',std_msgs.msg.Float32,northCb)

    odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
    left_motor_pub = rospy.Publisher('/left_motor', std_msgs.msg.Int32, queue_size=10)
    right_motor_pub = rospy.Publisher('/right_motor', std_msgs.msg.Int32, queue_size=10)

    #left_motor_speed_pub = rospy.Publisher('/left_motor_speed', std_msgs.msg.Int32, queue_size=10)
    #right_motor_speed_pub = rospy.Publisher('/right_motor_speed', std_msgs.msg.Int32, queue_size=10)


    rospy.spin()