robot_leader.py 文件源码

def __init__(self, name):
        self.robotname = rospy.get_param("~robot")
        self.br = tf.TransformBroadcaster()
        self.sub = rospy.Subscriber('/%s/base_pose_ground_truth' % self.robotname,
                                    Odometry,
                                    self.handle_robot_pose, 
                                    self.robotname)