explorer1.py 文件源码

def __init__(self):
        #constants for racecar speed and angle calculations
        self.pSpeed = 0.3 #tweak
        self.pAngle = 1
        #positive charge behind racecar to give it a "kick" (forward vector)
        self.propelling_charge = 4.5
        #more constants
        self.charge = 0.01
        self.safety_threshold = 0.3
        self.speeds = [1] #Creates a list of speeds

        self.stuck_time = 0
        self.stuck = False
        self.stuck_threshold = 2

        rospy.init_node("explorer")

        self.sub = rospy.Subscriber('scan', LaserScan, self.laser_callback)
        self.pub = rospy.Publisher('/vesc/ackermann_cmd_mux/input/navigation', AckermannDriveStamped)
        rospy.on_shutdown(self.shutdown)