linear_move.py 文件源码

def __init__(self):
        rospy.loginfo('[robot_move_pkg]->linear_move is initial')
        #???????????????
        self.robot_state = robot_state.robot_position_state()
        self.cmd_move_pub = rospy.Publisher('/cmd_move', g_msgs.Twist, queue_size = 100)
        self.rate = rospy.Rate(150)
        #???????????
        self.stop_tolerance = config.high_speed_stop_tolerance
        self.angular_tolerance = config.high_turn_angular_stop_tolerance
        #?????????????
        self.accurate_turn_an_angular = turn_an_angular.turn_an_angular()
        self.x_speed = 0.0
        self.y_speed = 0.0
        self.w_speed = config.high_turn_angular_speed
        #???????
        self.linear_sp = spline_func.growth_curve()
        self.amend_speed = 0.18