particle_filter.py 文件源码

def clicked_pose(self, msg):
        '''
        Receive pose messages from RViz and initialize the particle distribution in response.
        '''
        if isinstance(msg, PointStamped):
            self.initialize_global()
        elif isinstance(msg, PoseWithCovarianceStamped):
            self.initialize_particles_pose(msg.pose.pose)