imu_to_angles.py 文件源码

def publish_angles(self):
        self.pub_imu_roll_msg = Float32()
        self.pub_imu_roll_msg.data = self.roll
        self.pub_imu_roll.publish(self.pub_imu_roll_msg)

        self.pub_imu_pitch_msg = Float32()
        self.pub_imu_pitch_msg.data = self.pitch
        self.pub_imu_pitch.publish(self.pub_imu_pitch_msg)

        self.pub_imu_yaw_msg = Float32()
        self.pub_imu_yaw_msg.data = self.yaw
        self.pub_imu_yaw.publish(self.pub_imu_yaw_msg)


# Main function.