def __init__(self):
rospy.init_node('localizer')
rospy.Subscriber('/odom', Odometry, self.process_odom)
self.sound_speed = 340.29*100 # cm/s
self.mic_dist = 30 # cm
self.buffer = 200
self.angles = []
# angle odometry
self.angle_curr = 0.0
self.angle_k = 1
self.angle_error = None
self.at_speaker = False
self.angle_pred = 0.0
self.pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
audio_localizer.py 文件源码
python
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