odomsync.py 文件源码

def main():
    trans= 0
    rot = 0
    rospy.init_node('odom_sync')
    listener = tf.TransformListener()
    pubfiltered = rospy.Publisher('set_pose',PoseWithCovarianceStamped,queue_size = 10)
    pubodom = rospy.Publisher('mobile_base/commands/reset_odometry', Empty, queue_size = 10)
    serv = rospy.ServiceProxy("set_offset",SetOdomOffset)
    rospy.Subscriber('/command_input',UInt8,callback,callback_args=(pubodom,pubfiltered,listener,trans,rot,serv))
    rospy.sleep(1)
    print "done sleeping"

    while not rospy.is_shutdown():
        try:
            (trans,rot) = listener.lookupTransform('/base_meas', '/odom_meas',rospy.Time(0))

        except: continue


    rospy.spin()