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()
