#!/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

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

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2017-08-16?09:21??LEARNING_ROBOTICS_USING_PYTHON\
?????文件???????10244??2017-10-03?23:09??LEARNING_ROBOTICS_USING_PYTHON\.DS_Store
?????目錄???????????0??2018-01-17?19:18??__MACOSX\
?????目錄???????????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
?????目錄???????????0??2015-05-22?16:42??LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\
?????目錄???????????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
?????目錄???????????0??2018-01-17?19:18??__MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\
?????目錄???????????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
?????目錄???????????0??2015-05-22?16:36??LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\
?????目錄???????????0??2015-05-22?16:36??LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\Chefbot_Master\
?????目錄???????????0??2015-05-22?16:36??LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\Chefbot_Master\chefbot\
?????目錄???????????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
?????目錄???????????0??2018-01-17?19:18??__MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\
?????目錄???????????0??2018-01-17?19:18??__MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\Chefbot_Master\
?????目錄???????????0??2018-01-17?19:18??__MACOSX\LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\Chefbot_Master\chefbot\
?????目錄???????????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
?????目錄???????????0??2015-05-22?16:36??LEARNING_ROBOTICS_USING_PYTHON\Learning?Robotics?Using?Python_code\Chapter_10\Chefbot_Master\chefbot\chefbot_bringup\include\
?????目錄???????????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\
?????目錄???????????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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