localization_node.py 文件源码

def __init__(self):
        rospy.init_node('tag_position_publisher', anonymous=True)
        self.rate = rospy.Rate(LocalizationNode.EVERY_SECOND)
        self.basestations = []
        self.extractParams()
        self.frame = '/target_' + str(self.tag)
        self.ekf = ROSEKF(self.tag, self.basestations, selectBestPositions, Poly3(self.measurement_model_coeffs),
                          self.var_z, Poly5(self.measurement_weight_model_coeffs), self.max_selection, self.debug)
        self.publisher = rospy.Publisher(self.frame, PointStamped, queue_size=10)