parking.py 文件源码

def __init__(self):
        """Constructor for the class
        initialize topic subscription and 
        instance variables
        """
        self.r = rospy.Rate(5)
        self.publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
        rospy.Subscriber('/scan', LaserScan, self.process_scan)
        # user chooses which parking mode to be performed
        self.is_parallel = rospy.get_param('~parallel', False)

        # Instance Variables
        self.timestamp1 = None
        self.timestamp2 = None
        self.dist2Neato = None
        self.dist2Wall = None
        self.widthOfSpot = None
        self.twist = None
        self.radius = None
        # Adjusment to be made before moving along the arc
        self.adjustment = 0 
        self.isAligned = False