naoqi_moveto.py 文件源码

def __init__(self):
        NaoqiNode.__init__(self, 'naoqi_moveto_listener')
        self.connectNaoQi()
        self.listener = tf.TransformListener()

        self.goal_sub = rospy.Subscriber('move_base_simple/goal', PoseStamped, self.goalCB)
        self.cvel_sub = rospy.Subscriber('cmd_vel', Twist, self.cvelCB)


    # (re-) connect to NaoQI: