bicycle_interaction.py 文件源码

def __init__(self):
        self.pub_vel_wheel = rospy.Publisher('/bycycle_interaction/vel_wheel', Twist, queue_size=1)

        self.twist = Twist()
        self.vel_wheel = 0
        self.angle_wheel = 0

        self.rate = rospy.get_param('~rate', 3.0)
        self.wheel_radius = rospy.get_param('~wheel_radius', 0.30)

        self.srv = Server(bicycle_interactionConfig, self.reconfig_callback) # define dynamic_reconfigure callback

        rate = rospy.Rate(self.rate)

        while not rospy.is_shutdown():
            self.publish_vel_wheel()
            rate.sleep()