object_position4.py 文件源码

def listener():

    # In ROS, nodes are uniquely named. If two nodes with the same
    # node are launched, the previous one is kicked off. The
    # anonymous=True flag means that rospy will choose a unique
    # name for our 'listener' node so that multiple listeners can
    # run simultaneously.
    rospy.init_node('listener', anonymous=True)

    rospy.Subscriber("/turtlebot_angle", Float64, callback1)
    rospy.Subscriber("/turtlebot_posex", Float64, callback2)
    rospy.Subscriber("/turtlebot_posey", Float64, callback3)

    rospy.Subscriber("/turtlebot_follower/dist_object1", Float64, callback4)
    rospy.Subscriber("/turtlebot_follower/dist_object2", Float64, callback5)
    rospy.Subscriber("/turtlebot_follower/dist_object3", Float64, callback6)
    rospy.Subscriber("/turtlebot_follower/dist_object4", Float64, callback7)
    #rospy.Subscriber("/turtlebot_follower/dist_object", Float64, callback8)

    # spin() simply keeps python from exiting until this node is stopped
    rospy.spin()