tfzarj.py 文件源码

def __init__(self, name):
        self.tf_buffer = None
        self.tf_listener = None
        self.robot_name = name
        self.rate = rospy.Rate(10.0)
        self.base_pose = None
        self.pose_subscriber = None
        self.world_transform = Vector3(0, 0, 0)

        self.gazebo_subscriber = None
        self.gazebo_model = None