1operate_recognize_object.py 文件源码

def __init__(self,dis=0):
        State.__init__(self, outcomes=['succeeded','preempted','aborted'])
        rospy.on_shutdown(self.shutdown)
        self.test_distance = dis
        self.rate = 100
        self.r = rospy.Rate(self.rate)
        self.speed = rospy.get_param('~speed',0.08)
        self.tolerance = rospy.get_param('~tolerance', 0.01)
        self.cmd_vel = rospy.Publisher('/mobile_base_controller/smooth_cmd_vel',Twist,queue_size=5)
        self.base_frame = rospy.get_param('~base_frame', '/base_link')
        self.odom_frame = rospy.get_param('~odom_frame', '/odom')
        self.tf_listener = tf.TransformListener()
        rospy.sleep(1)
        self.tf_listener.waitForTransform(self.odom_frame,self.base_frame,rospy.Time(),rospy.Duration(60.0))
        self.flag = rospy.get_param('~flag', True)
        #tf get position
        self.position = Point()
        self.position = self.get_position()
        self.y_start = self.position.y
        self.x_start = self.position.x
        #publish cmd_vel