topic_position = "robot_" + id_str + "/move_base_simple/goal" topic_velocity = "robot_" + id_str + "/move_base_simple/target_velocity" topic_kick_velocity = "robot_" + id_str + "/kick_velocity" topic_ai_status = "robot_" + id_str + "/ai_status" pubs_position.append( rospy.Publisher(topic_position, PoseStamped, queue_size=10)) pubs_velocity.append( rospy.Publisher(topic_velocity, TwistStamped, queue_size=10)) pubs_kick_velocity.append( rospy.Publisher(topic_kick_velocity, Float32, queue_size=10)) pubs_ai_status.append( rospy.Publisher(topic_ai_status, AIStatus, queue_size=10)) subs_friend_odom.append( rospy.Subscriber(topic_friend_odom, Odometry, callback_friend_odom, callback_args=robot_id)) subs_enemy_odom.append( rospy.Subscriber(topic_enemy_odom, Odometry, callback_enemy_odom, callback_args=robot_id)) WorldModel.set_friend_color(rospy.get_param('friend_color')) WorldModel.set_friend_goalie_id(rospy.get_param('goalie_id')) main()