signals.py 文件源码

def handle_acc(self, msg):
        # Check header of Imu msg
        t = msg.header.stamp.secs
        acc = (msg.linear_acceleration.x,
               msg.linear_acceleration.y,
               msg.linear_acceleration.z)
        # TODO check how uniform t is, if not investigate correct
        # filtering option
        self.acc_t.append(t)
        self.acc.append(acc)