trajectory_builder.py 文件源码

def __init__(self):
        self.save_path = os.path.join(rospy.get_param("~save_path"), time.strftime("%Y-%m-%d-%H-%M-%S") + ".traj")
        self.trajectory = LineTrajectory("/built_trajectory")
        # receive either goal points or clicked points
        self.publish_point_sub = rospy.Subscriber("/clicked_point", PointStamped, self.clicked_point_callback, queue_size=1)
        self.nav_goal_sub = rospy.Subscriber("/move_base_simple/goal", PoseStamped, self.clicked_point_callback, queue_size=1)
        # save the built trajectory on shutdown
        rospy.on_shutdown(self.saveTrajectory)