joint_state_to_command.py 文件源码

def __init__(self):
        self.joint_name = rospy.get_param("~joint_name")
        self.command_pub = rospy.Publisher("command", Float64, queue_size=1)
        self.joint_sub = rospy.Subscriber("joint_state", JointState,
                                          self.joint_state_callback, queue_size=1)