LEARNING_ROBOTICS_USING_PYTHON（Lentin Joseph）[pdfmobicode]

Design, simulate, program, and prototype an interactive autonomous mobile robot from scratch with the help of Python, ROS, and Open-CV!

#!/usr/bin/env python

“““
   diff_tf.py - follows the output of a wheel encoder and
   creates tf and odometry messages.
   some code borrowed from the arbotix diff_controller script
   A good reference: http://rossum.sourceforge.net/papers/DiffSteer/
   
    Copyright （C） 2012 Jon Stephan. 
     
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation either version 3 of the License or
    （at your option） any later version.

    This program is distributed in the hope that it will be useful
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not see .
   
   ----------------------------------
   Portions of this code borrowed from the arbotix_python diff_controller.
   
diff_controller.py - controller for a differential drive
  Copyright （c） 2010-2011 Vanadium Labs LLC.  All right reserved.

  Redistribution and use in source and binary forms with or without
  modification are permitted provided that the following conditions are met:
      * Redistributions of source code must retain the above copyright
        notice this list of conditions and the following disclaimer.
      * Redistributions in binary form must reproduce the above copyright
        notice this list of conditions and the following disclaimer in the
        documentation and/or other materials provided with the distribution.
      * Neither the name of Vanadium Labs LLC nor the names of its 
        contributors may be used to endorse or promote products derived 
        from this software without specific prior written permission.
  
  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS “AS IS“ AND
  ANY EXPRESS OR IMPLIED WARRANTIES INCLUDING BUT NOT LIMITED TO THE IMPLIED
  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
  DISCLAIMED. IN NO EVENT SHALL VANADIUM LABS BE LIABLE FOR ANY DIRECT INDIRECT
  INCIDENTAL SPECIAL EXEMPLARY OR CONSEQUENTIAL DAMAGES （INCLUDING BUT NOT
  LIMITED TO PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE DATA
  OR PROFITS; OR BUSINESS INTERRUPTION） HOWEVER CAUSED AND ON ANY THEORY OF
  LIABILITY WHETHER IN CONTRACT STRICT LIABILITY OR TORT （INCLUDING NEGLIGENCE
  OR OTHERWISE） ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE EVEN IF
  ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

“““

import rospy
#import roslib
#roslib.load_manifest（‘differential_drive‘）
from math import sin cos pi

from geometry_msgs.msg import Quaternion
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
from tf.broadcaster import TransformBroadcaster
from std_msgs.msg import Int16 Int64

##############

 属性            大小     日期    时间   名称
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     目录           0  2017-08-16 09:21  LEARNING_ROBOTICS_USING_PYTHON\
     文件       10244  2017-10-03 23:09  LEARNING_ROBOTICS_USING_PYTHON\.DS_Store
     目录           0  2018-01-17 19:18  __MACOSX\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\
     文件         120  2017-10-03 23:09  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\._.DS_Store
     文件     7856200  2017-08-15 12:58  LEARNING_ROBOTICS_USING_PYTHON\9781783287536-LEARNING_ROBOTICS_USING_PYTHON.pdf
     文件        1073  2017-08-15 12:58  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\._9781783287536-LEARNING_ROBOTICS_USING_PYTHON.pdf
     文件    21718448  2017-08-15 12:59  LEARNING_ROBOTICS_USING_PYTHON\9781783287536.mobi
     文件        1003  2017-08-15 12:59  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\._9781783287536.mobi
     目录           0  2015-05-22 16:42  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\
     目录           0  2017-08-15 12:58  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_1\
     文件          25  2015-04-10 11:03  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_1\README.txt
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_1\
     文件         216  2015-04-10 11:03  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_1\._README.txt
     文件         216  2017-08-15 12:58  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\._Chapter_1
     目录           0  2015-05-22 16:36  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\
     目录           0  2015-05-22 16:36  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\
     目录           0  2015-05-22 16:36  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\
     目录           0  2015-05-22 16:36  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\
     文件        5559  2015-04-10 11:03  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\CMakeLists.txt
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\
     文件         216  2015-04-10 11:03  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\._CMakeLists.txt
     目录           0  2015-05-22 16:36  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\include\
     目录           0  2015-03-26 16:24  LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\include\chefbot_bringup\
     目录           0  2018-01-17 19:18  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\include\
     文件         216  2015-03-26 16:24  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\include\._chefbot_bringup
     文件         216  2015-05-22 16:36  __MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning Robotics Using Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\._include
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