gazebo2rviz.py 文件源码

python
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项目:autonomous_bicycle 作者: SiChiTong 项目源码 文件源码
def __init__(self):
        self.rate = rospy.get_param('~rate', 10.0)  # the rate at which to publish the transform
        self.submodelsToBeIgnored = rospy.get_param('~ignore_submodels_of', '').split(';')

        self.tfBroadcaster = tf.TransformBroadcaster()
        self.link_states_msg = None

        self.model_states_msg = None
        self.model_cache = {}
        self.updatePeriod = 1. / self.rate
        self.enable_publisher_marker = False
        self.enable_publisher_tf = False

        self.markerPub = rospy.Publisher('/model_marker', Marker, queue_size=10)
        self.modelStatesSub = rospy.Subscriber('gazebo/model_states', ModelStates, self.on_model_states_msg, queue_size=1)
        self.linkStatesSub = rospy.Subscriber('gazebo/link_states', LinkStates, self.on_link_states_msg, queue_size=1)
        rate_sleep = rospy.Rate(self.rate)

        # Main while loop
        while not rospy.is_shutdown():
            if self.enable_publisher_marker and self.enable_publisher_tf:
                self.publish_tf()
                self.publish_marker()

            rate_sleep.sleep()
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