odom_ekf.py 文件源码

def __init__(self):
        # Give the node a name
        rospy.init_node('odom_ekf', anonymous=False)

        # Publisher of type nav_msgs/Odometry
        self.ekf_pub = rospy.Publisher('output', Odometry, queue_size=5)

        # Wait for the /odom_combined topic to become available
        rospy.wait_for_message('input', PoseWithCovarianceStamped)

        # Subscribe to the /odom_combined topic
        rospy.Subscriber('input', PoseWithCovarianceStamped, self.pub_ekf_odom)

        rospy.loginfo("Publishing combined odometry on /odom_ekf")