go_along_circle.py 文件源码

def __init__(self):
        #?????????? m/s
        self.move_cmd_pub = rospy.Publisher('cmd_move_robot',g_msgs.Twist,queue_size=100)

        self.move_speed = config.go_along_circle_speed
        self.get_position = robot_state.robot_position_state()
        #????????? rad
        self.stop_tolerance = config.go_along_circle_angular_tolerance
        #????????
        rospy.on_shutdown(self.brake)
        # ??sleep ??? ???????????
        self.rate = 100.0
        self.R = rospy.Rate(int(self.rate))
        self.MODE = { 1:(-1, 1),
                      2:( 1,-1),
                      3:( 1, 1),
                      4:(-1,-1)}