trajectory_planner.py 文件源码

def __init__(self):
        self.map = None
        self.start = None
        self.goal = None

        self.moves = [Move(0.1, 0),  # forward
                      Move(-0.1, 0),  # back
                      Move(0, 1.5708),  # turn left 90
                      Move(0, -1.5708)] # turn right 90
        self.robot = Robot(0.5, 0.5)
        self.is_working = False # Replace with mutex after all

        self.map_subscriber = rospy.Subscriber("map", OccupancyGrid, self.new_map_callback)
        self.start_subscriber = rospy.Subscriber("initialpose", PoseWithCovarianceStamped, self.new_start_callback)
        self.goal_subscriber = rospy.Subscriber("goal", PoseStamped, self.new_goal_callback)

        self.path_publisher = rospy.Publisher("trajectory", MarkerArray, queue_size=1)
        self.pose_publisher = rospy.Publisher("debug_pose", PoseStamped, queue_size=1)

        # what will be there. A module goes into variable. Isn't it too much memory consumption. Maybe I should assign function replan() to this variable?
        self.planner = planners.astar.replan