find_volleyball.py 文件源码

def __init__(self):
        self.find_ball_client = rospy.ServiceProxy('volleyball_data',volleyballdata)
        self.cmd_vel_pub = rospy.Publisher('cmd_move_robot' , g_msgs.Twist , queue_size=100)
        self.cmd_position = get_robot_position.robot_position_state()
        self.move_speed = 0.21
        #????????
        rospy.on_shutdown(self.brake)
        #????????????
        self.MODE = { 1:(-1, 1),
                      2:( 1,-1),
                      3:( 1, 1),
                      4:(-1,-1)}
        rospy.loginfo('waiting for the find ball..')
        self.find_ball_client.wait_for_service()
        rospy.loginfo('connect to the find ball!!!')

    #??????????????????