rl_ros.py 文件源码

def setup():
    """ Setup ROS node. Create listener and talker threads """
    global pub_cmd_vel
    global srv_reset_positions

    print("\n Initiating ROS Node")

    rospy.init_node(NODE_NAME, anonymous=True)
    # ToDo: Change to 'odom' in ROS launch for Giraff:
    rospy.Subscriber('odom_giraff', Odometry, callback_odom)
    rospy.Subscriber('laser_scan', LaserScan, callback_base_scan)
    pub_cmd_vel = rospy.Publisher(
        'cmd_vel', Twist, queue_size=1, tcp_nodelay=True)

    srv_reset_positions = rospy.ServiceProxy('reset_positions', Empty)

    thread_listener = Thread(target=listener, args=[])
    thread_talker = Thread(target=talker, args=[])
    thread_listener.start()
    thread_talker.start()

    rospy.loginfo("Node Initiated: %s", NODE_NAME)
    return