subscriber_CtrlMsg.py 文件源码

def ControlListener():

    rospy.init_node('robot_motion_control', anonymous=True)

    rospy.Subscriber("robot1Com", controldata, callback1)

    P1.pub = rospy.Publisher('/home1/command', Vector3, queue_size=10)

    rospy.Subscriber("robot2Com", controldata, callback2)

    P2.pub = rospy.Publisher('/home2/command', Vector3, queue_size=10)

    while not rospy.is_shutdown():
        rospy.spin()
    return

    # spin() simply keeps python from exiting until this node is stopped
    #rospy.spin()