move_in_robot.py 文件源码

def move_to(self, x = 0.0, y = 0.0, yaw = 0.0):
        ''' ???????? '''
        rospy.on_shutdown(self.brake) #???????????
        rospy.loginfo('[robot_move_pkg]->move_in_robot will move to x_distance = %s'
                      'y_distance = %s, angular = %s'%(x, y, yaw))
        if x == 0.0 and y == 0:
            self.turn(self.normalize_angle(yaw))
        else:
            self.turn(self.normalize_angle(yaw))
            self.start_run(x, y)