controller.py 文件源码

def init(self):

        self.hz = rospy.get_param('~hz', 10)
        self.max_speed = rospy.get_param('~max_speed', 5)
        self.min_speed = rospy.get_param('~min_speed', -5)
        self.rate = rospy.Rate(self.hz) 

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

        self.acc = 0
        self.yaw = 0
        self.vel = 0