control.py 文件源码

def _subscribe(self):
        assert self.state_subscriber is None
        assert self.position_subscriber is None
        self.state_subscriber = rospy.Subscriber(
            '%s/mavros/state' % self.namespace, State,
            callback=self._state_callback)
        self.position_subscriber = rospy.Subscriber(
            '%s/mavros/global_position/global' % self.namespace, NavSatFix,
            callback=self._position_callback)