audio_localizer.py 文件源码

python
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项目:speaker_recognizer_robot 作者: shrutiyer 项目源码 文件源码
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)
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