time_trial_driver_follower.py 文件源码

def __init__(self):
        '''
        Instance variables
        '''

        #use this for small step accerleration
        self.last_speed=0
        self.e1 = 0
    self.e2 = 0
        '''
        Node setup and start
        '''
        self.drive = rospy.Publisher('/vesc/ackermann_cmd_mux/input/navigation', AckermannDriveStamped, queue_size=5)
        rospy.Subscriber('scan', LaserScan, self.laserCall)
        rospy.Subscriber('/color', String, self.blobCall)

        '''
        Leave the robot going until roscore dies, then set speed to 0
        '''
        self.drive.publish(AckermannDriveStamped())
        print ("init")