xm_tree.py 文件源码

def run(self):
        if self.finished:
            return TaskStatus.SUCCESS
        else:
            rospy.loginfo('Vacuuming the floor in the ' + str(self.room))

            while self.counter > 0:
                self.cmd_vel_pub.publish(self.cmd_vel_msg)
                self.cmd_vel_msg.linear.x *= -1
                rospy.loginfo(self.counter)
                self.counter -= 1
                rospy.sleep(1)
                return TaskStatus.RUNNING

            self.finished = True
            self.cmd_vel_pub.publish(Twist())
            message = "Finished vacuuming the " + str(self.room) + "!"
            rospy.loginfo(message)