go_close_line.py 文件源码

def correct_angle(self):
        # rospy.loginfo("sadasdafasf")
        (x,theta,if_close_line) = self.close_line_cmd.find_line()
        r = rospy.Rate(50)
        move_velocity = g_msgs.Twist()
        if theta > 0:
            move_velocity.angular.z = -0.10
        else:
            move_velocity.angular.z = 0.10
        while not rospy.is_shutdown():
            (x,theta,if_close_line) = self.close_line_cmd.find_line()
            self.cmd_move_pub.publish(move_velocity)
            #????????????????

            if theta < 0.02 and theta > -0.02:
                rospy.loginfo("will Stop!!!!!!!!!!")
                self.brake()
                break
            r.sleep()


    #??3??????