teleop_joystick.py 文件源码

def start():
    global left_motor_pub,right_motor_pub
    # publishing to "turtle1/cmd_vel" to control turtle1
    global pub
    pub = rospy.Publisher('turtle1/cmd_vel', Twist)
    left_motor_pub = rospy.Publisher('/left_motor', std_msgs.msg.Int32, queue_size=10)
    right_motor_pub = rospy.Publisher('/right_motor', std_msgs.msg.Int32, queue_size=10)
    # subscribed to joystick inputs on topic "joy"
    rospy.Subscriber("joy", Joy, callback)
    # starts the node
    rospy.init_node('Joy2Turtle')
    rospy.spin()