robot.py 文件源码

def __init__(self, name):
        self.name = name

        # Publisher
        self.cmd_vel = rospy.Publisher("/%s/cmd_vel" % self.name,
                                       Twist, queue_size=1)

        # Subscriber
        self.odom = rospy.Subscriber("/%s/odom" % self.name,
                                     Odometry, self.odom_callback,
                                     queue_size=1)

        self.laser = rospy.Subscriber("/%s/front_laser/scan" % self.name,
                                      LaserScan, self.laser_callback,
                                      queue_size=1)

        self.camera = rospy.Subscriber("/%s/front_camera/image_raw" % self.name,
                                       Image, self.camera_callback,
                                       queue_size=1)

        self.pose_data = None
        self.laser_data = None
        self.camera_data = None

        self.cv_bridge = cv_bridge.CvBridge()

        self.rate = rospy.Rate(10)
        self.rate.sleep()