nav_asr_6.py 文件源码

def __init__(self):
        rospy.init_node('nav_asr', anonymous = True)
        rospy.Subscriber("/recognizer/output", String, self.SpeechUpdateGoal)
        rospy.Subscriber("/WPsOK", String, self.GetWayPoints)

        self.waypoint_list     = dict()
        self.marker_list       = list()
        self.makerArray        = MarkerArray()

        self.makerArray_pub    = rospy.Publisher("Waypoint_Array",MarkerArray,queue_size=5)

        rospy.on_shutdown(self.shutdown) # @@@@
        # How long in seconds should the robot pause at each location?
        self.rest_time = rospy.get_param("~rest_time", 2)
        # Are we running in the fake simulator?
        self.fake_test = rospy.get_param("~fake_test", True)
        # Publisher to manually control the robot (e.g. to stop it, queue_size=5)
        self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)
        # Subscribe to the move_base action server
        self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
        rospy.loginfo("Waiting for move_base action server...")
        # Wait 60 seconds for the action server to become available
        self.move_base.wait_for_server(rospy.Duration(60))
        rospy.loginfo("Connected to move base server")

    # Create the waypoints list from txt