turtlebot_node.py 文件源码

def _init_pubsub(self):
        self.joint_states_pub = rospy.Publisher('joint_states', JointState)
        self.odom_pub = rospy.Publisher('odom', Odometry)

        self.sensor_state_pub = rospy.Publisher('~sensor_state', TurtlebotSensorState)
        self.operating_mode_srv = rospy.Service('~set_operation_mode', SetTurtlebotMode, self.set_operation_mode)
        self.digital_output_srv = rospy.Service('~set_digital_outputs', SetDigitalOutputs, self.set_digital_outputs)

        if self.drive_mode == 'twist':
            self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Twist, self.cmd_vel)
            self.drive_cmd = self.robot.direct_drive
        elif self.drive_mode == 'drive':
            self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Drive, self.cmd_vel)
            self.drive_cmd = self.robot.drive
        elif self.drive_mode == 'turtle':
            self.cmd_vel_sub = rospy.Subscriber('cmd_vel', Turtle, self.cmd_vel)
            self.drive_cmd = self.robot.direct_drive
        else:
            rospy.logerr("unknown drive mode :%s"%(self.drive_mode))

        self.transform_broadcaster = None
        if self.publish_tf:
            self.transform_broadcaster = tf.TransformBroadcaster()