c.py 文件源码

def __init__(self):
    self.lock = threading.Lock()
    self.sub_imu = rospy.Subscriber('imu', Imu, self.imu_cb)
    self.last_imu_angle = 0
    self.imu_angle = 0
    while not rospy.is_shutdown():
      self.last_imu_angle = self.imu_angle
      rospy.sleep(10)
      rospy.loginfo("imu_drift:"+str((self.imu_angle-self.last_imu_angle)*180/3.1415926))