simplemaze_turtlebot_camera_cvnn.py 文件源码

def __init__(self):

        self.force_reset = True
        self.vel_pub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size=5)
        self.unpause = rospy.ServiceProxy('/gazebo/unpause_physics', Empty)
        self.pause = rospy.ServiceProxy('/gazebo/pause_physics', Empty)
        self.reset_proxy = rospy.ServiceProxy('/gazebo/reset_simulation', Empty)

        self.img_rows = 32
        self.img_cols = 32
        self.img_channels = 1