command_sender.py 文件源码

def __init__(self):
        # initialize a socket
        self.host = rospy.get_param('~server_address', '127.0.0.1')
        self.port = rospy.get_param('~server_port', 20011)
        self.friend_color = rospy.get_param('/friend_color', 'yellow')

        rospy.loginfo('server address is set to [' + self.host         + ']')
        rospy.loginfo('server port is set to ['    + str(self.port)    + ']')
        rospy.loginfo('team color is set to ['     + self.friend_color + ']')

        self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)

        # make subscribers
        self.subscribers = []
        for i in xrange(12):
            topic = "/robot_" + str(i) + "/robot_commands"
            self.subscribers.append(
                    rospy.Subscriber(
                        topic,
                        robot_commands,
                        self.sendCommands,
                        callback_args=i))