movement_tracker.py 文件源码

def __init__(self):
        self.tf_listener = tf.TransformListener()
        self.tmr = None
        self.active_cb = None
        self.inactive_cb = None
        self.tracking = False
        self.min_dist = 0.02
        self.min_theta = 0.05
        self.state = IDLE
        self.nb_blackboard = NeedybotBlackboard()
        self.odom = None
        self.odom_sub = None
        self.pose = None
        self.prev_pose = None
        self.stopped = False