betelgeuse.py 文件源码

def __init__(self):
        super(Robot, self).__init__()
        rospy.init_node('betelgeuse-ai')

        self.speed = 0.0
        self.turn = 0.0
        self.drift = 0.0

        self.drive_pub = rospy.Publisher("/ai/ai/drive_command", KamaroDriveCommand, queue_size=1)

        self.lidar_front_sub = rospy.Subscriber("/lidar_filtered/lidar_front_scan_filtered", LaserScan, self._on_lidar_front)
        self.lidar_back_sub = rospy.Subscriber("/lidar_filtered/lidar_back_scan_filtered", LaserScan, self._on_lidar_back)
        self.odom_sub = rospy.Subscriber("/odom/fused", Odometry, self._on_odometry)