trajectory.py 文件源码

def callback(data,pub):
    t = Twist()

    if data.data == 1:
        t.linear.x = .25
        print t
    if data.data == 2:
        t.angular.z = 2
    if data.data == 3:
        t.linear.x = .25
        t.angular.z = 1

    time = rospy.get_time()
    while rospy.get_time()-time < 6:
        pub.publish (t)
        rospy.sleep(.005)