def __init__(self):
self.node_name = rospy.get_name()
rospy.loginfo("[%s] Initializing " % (self.node_name))
self.car_like_mode = self.setupParam("~car_like_mode", True)
# Setup publishers
self.dagu = DAGU_Differential_Drive(car_like_mode=self.car_like_mode)
self.dagu.setSpeed(0.0)
self.dagu.setSteerAngle(0.0)
self.control_msg = None
# self.control_msg = CarControl()
# self.control_msg.speed = 0.0
# self.control_msg.steering = 0.0
# Setup subscribers
self.sub_topic = rospy.Subscriber("~car_control", CarControl,
self.cbControl)
# Create a timer that calls the cbTimer function every 1.0 second
self.timer = rospy.Timer(rospy.Duration.from_sec(0.02), self.cbTimer)
self.last_cmd = None
