turtlesim_joy.py 文件源码

def joy_listener():

    # start node
    rospy.init_node("turtlesim_joy", anonymous=True)

    # subscribe to joystick messages on topic "joy"
    rospy.Subscriber("joy", Joy, tj_callback, queue_size=1)

    # keep node alive until stopped
    rospy.spin()

# called when joy message is received