particle_visualizer.py 文件源码

def __init__(self):
        #Creates display for visualization. 
        self.window = turtle.Screen()
        turtle.setworldcoordinates(-5, -5, 5, 5)
        turtle.speed(0)

        #Initializes ROS and subscribes to particle filter. 
        rospy.init_node('particle_visualizer', anonymous=True)
        rospy.Subscriber('particle_filter', Particle_vector, self.update)

        #Initializes list of particles. 
        self.particles = []