dc_tf_broadcast.py 文件源码

def listener():
    global odom_pub,left_motor_pub,left_motor_speed_pub,right_motor_pub,right_motor_speed_pub
    rospy.Subscriber("/cmd_vel", Twist, callback)
    odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
    left_motor_pub = rospy.Publisher('/left_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_pub = rospy.Publisher('/right_motor', 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()