queue_size=100,
slop=0.1)
ts.registerCallback(callback)
control_pub = rospy.Publisher('Wheel', Float64MultiArray, queue_size=10)
record_param_pub = rospy.Publisher('record_inner_param',
Float64StampedMultiArray,
queue_size=10)
# spin() simply keeps python from exiting until this node is stopped
rospy.spin()
if __name__ == '__main__':
#--- navigation and trigger, but now only fix and trigger
global path_lst, in_planning
cspace = CSpace(h=H_START, di=D_START)
path_lst = cspace.path # list of point (d,a,alpha,back_alpha,theta,t)
path_lst = [cspace.tuple3_to_tuple6(p) for p in path_lst]
path_lst = path_lst[::-1]
in_planning = True
#---
try:
listener()
except Exception as e:
print(e)
finally:
print('hahahahahahahaha, no problem, I should be on the stair!')
