run_policy.py 文件源码

def _init_motor_pubs(self):
        self._motor_pubs = []
        for i in range(12):
            if i % 2 == 0:
                bbb, board_id, sub_index = i + 2, 0x71, 0x2
            else:
                bbb, board_id, sub_index = i + 1, 0x1, 0x1
            self._motor_pubs.append(
                    rospy.Publisher('/bbb%d/0x%x_0x2040_0x%x' % (bbb, board_id, sub_index), Float32,
                        queue_size=1))