blob_wall_follow2.py 文件源码

def __init__(self,bool_direction):
        print "Beginning wall follow"
        #setup the node
        rospy.init_node('wall_follower', anonymous=False)
        rospy.on_shutdown(self.shutdown)
        self.right = bool_direction

        # node specific topics (remap on command line or in launch file)
        self.drive = rospy.Publisher('/vesc/ackermann_cmd_mux/input/navigation', AckermannDriveStamped, queue_size=5)

        #sets the subscriber
        rospy.Subscriber('scan', LaserScan, self.laserCall)
        rospy.Subscriber('blob_info', blob_detect,self.blobCall)
        rospy.spin()
        # always make sure to leave the robot stopped
        self.drive.publish(AckermannDriveStamped())