go_close_line.py 文件源码

def go_to_home(self):
        (x,theta,if_close_line) = self.close_line_cmd.find_line()
        r = rospy.Rate(50)
        move_velocity = g_msgs.Twist()
        while not rospy.is_shutdown():
            (x,theta,if_close_line) = self.close_line_cmd.find_line()
            move_velocity.linear.y = -0.3
            self.cmd_move_pub.publish(move_velocity)
            rospy.loginfo("python: y = %s",move_velocity.linear.y)
            if if_close_line != 0:
                rospy.loginfo("will Stop!!!!!!!!!!")
                self.brake()
                break
            r.sleep()

    #????????