safety.py 文件源码

def __init__(self):
        self.received_data = None
        self.parsed_data = None

        self.angles = None
        self.bins = None
        self.averages = None

        self.sub = rospy.Subscriber("/scan", LaserScan, self.lidarCB, queue_size=1)
        self.pub = rospy.Publisher("/vesc/low_level/ackermann_cmd_mux/input/safety",\
                AckermannDriveStamped, queue_size =1 )
        self.thread = Thread(target=self.drive)
        self.thread.start()
        rospy.loginfo("safety node initialized")