OptitrackTF.py 文件源码

def __init__(self):
        """Set up class variables, initialize broadcaster and start subscribers."""

        # Create broadcasters
        self.br_head = tf.TransformBroadcaster()
        self.br_rods = tf.TransformBroadcaster()

        # Create subscribers
        rospy.Subscriber("bax_head/pose", PoseStamped, self.head_callback, queue_size=1)
        rospy.Subscriber("rods/pose", PoseStamped, self.rod_callback, queue_size=1)

        # Main while loop.
        rate = rospy.Rate(50)
        while not rospy.is_shutdown():
            rate.sleep()