twist_cvt_node.py 文件源码

def __init__(self):

      """ROS Subscriptions """
      self.image_sub = rospy.Subscriber("/raspicam_node/image/compressed",CompressedImage,self.cvt_image) 
      self.cmdVelSub = rospy.Subscriber("/cmd_vel", Twist, self.callback)
      self.baseVelocityPub = rospy.Publisher('/cmd_vel_stamped', TwistStamped, queue_size=10)

      """ Variables """
      self.secs = 0
      self.nsecs = 0
      self.last = 0
      self.cmdvel = Twist()
      self.baseVelocity = TwistStamped()
      self.flag = 0