def __init__(self, default_port='/dev/ttyUSB0', default_update_rate=30.0):
"""
@param default_port: default tty port to use for establishing
connection to Turtlebot. This will be overriden by ~port ROS
param if available.
"""
self.default_port = default_port
self.default_update_rate = default_update_rate
self.robot = Turtlebot()
self.sensor_handler = None
self.sensor_state = TurtlebotSensorState()
self.req_cmd_vel = None
rospy.init_node('turtlebot')
self._init_params()
self._init_pubsub()
self._pos2d = Pose2D() # 2D pose for odometry
self._diagnostics = TurtlebotDiagnostics()
if self.has_gyro:
from create_node.gyro import TurtlebotGyro
self._gyro = TurtlebotGyro()
else:
self._gyro = None
dynamic_reconfigure.server.Server(TurtleBotConfig, self.reconfigure)
