turtlebot_node.py 文件源码

def _init_params(self):
        self.port = rospy.get_param('~port', self.default_port)
        self.robot_type = rospy.get_param('~robot_type', 'create')
        #self.baudrate = rospy.get_param('~baudrate', self.default_baudrate)
        self.update_rate = rospy.get_param('~update_rate', self.default_update_rate)
        self.drive_mode = rospy.get_param('~drive_mode', 'twist')
        self.has_gyro = rospy.get_param('~has_gyro', True)
        self.odom_angular_scale_correction = rospy.get_param('~odom_angular_scale_correction', 1.0)
        self.odom_linear_scale_correction = rospy.get_param('~odom_linear_scale_correction', 1.0)
        self.cmd_vel_timeout = rospy.Duration(rospy.get_param('~cmd_vel_timeout', 0.6))
        self.stop_motors_on_bump = rospy.get_param('~stop_motors_on_bump', True)
        self.min_abs_yaw_vel = rospy.get_param('~min_abs_yaw_vel', None)
        self.max_abs_yaw_vel = rospy.get_param('~max_abs_yaw_vel', None)
        self.publish_tf = rospy.get_param('~publish_tf', False)
        self.odom_frame = rospy.get_param('~odom_frame', 'odom')
        self.base_frame = rospy.get_param('~base_frame', 'base_footprint')
        self.operate_mode = rospy.get_param('~operation_mode', 3)

        rospy.loginfo("serial port: %s"%(self.port))
        rospy.loginfo("update_rate: %s"%(self.update_rate))
        rospy.loginfo("drive mode: %s"%(self.drive_mode))
        rospy.loginfo("has gyro: %s"%(self.has_gyro))