drive_model.py 文件源码

def cmdVel_publish(self, cmdVelocity):

         # Publish Twist
         self.cmdVel_pub.publish(cmdVelocity)

         # Publish TwistStamped 
         self.baseVelocity.twist = cmdVelocity

         baseVelocity = TwistStamped()

         baseVelocity.twist = cmdVelocity

         now = rospy.get_rostime()
         baseVelocity.header.stamp.secs = now.secs
         baseVelocity.header.stamp.nsecs = now.nsecs
         self.cmdVelStamped_pub.publish(baseVelocity)