def initPubs(self):
self.robot_pubs = {}
count = 1
for i in range(self.num_lanes):
num_car_lane = self.num_cars_per_lane[i]
for j in range(num_car_lane):
self.robot_pubs[count] = {}
self.robot_pubs[count]['laneid'] = i
self.robot_pubs[count]['pub'] = rospy.Publisher('robot_' + str(count) + '/cmd_vel', Twist, queue_size=1)
count += 1
highway_controller.py 文件源码
python
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