controller.py 文件源码

def __init__(self, P=1/30000):
        self.limb_name = 'left'
        self.other_limb_name = 'right'
        self.limb = baxter_interface.Limb(self.limb_name)
        self.err_pub = rospy.Publisher('/error', Float64, queue_size=1)
        self.P = P
        self.kinematics = baxter_kinematics(self.limb_name)
        self.jinv = self.kinematics.jacobian_pseudo_inverse()