auto_controller.py 文件源码

def init(self):
        self.hz = 500
        self.rate = rospy.Rate(self.hz)

        self.robot_pub = rospy.Publisher('robot_0/cmd_vel', Twist, queue_size=1)

        self.start_game = False
        # self.start_game = True
        # self.initTime = time() 
        # self.index = 0
        self.initUpdateVel = True
        self.TIME_PER_STEP = 0.1

        self.LoadControls()
        self.lenControls = len(self.controls)