move_in_robot.py 文件源码

def turn_to(self,goal_angular):
        rospy.on_shutdown(self.brake) #???????????
        current_angular = start_angular = self.robot_state.get_robot_current_w()#??????????
        is_arrive_goal = False
        r = rospy.Rate(100)
        delta_angular = current_angular - start_angular
        delta_upper_limit = abs(goal_angular) + 0.02 #????
        delta_lower_limit = abs(goal_angular) - 0.02 #????
        move_velocity = g_msgs.Twist()
        while not rospy.is_shutdown() and not is_arrive_goal:
            if abs(delta_angular)<=delta_upper_limit and abs(delta_angular) >= delta_lower_limit: #????
                self.brake()
                is_arrive_goal = True
                break
            current_angular = self.robot_state.get_robot_current_w()
            if goal_angular > 0:
                move_velocity.angular.z = 0.1
            else:
                move_velocity.angular.z = -0.1
            delta_angular += abs(abs(current_angular) - abs(start_angular) )
            start_angular = current_angular
            self.cmd_move_pub.publish(move_velocity) #???????????
            r.sleep()
        self.brake()