forward.py

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#!/usr/bin/env python
# coding=utf-8
######################################################################################
#> File Name: auto_rotate.py
#> Author:Rocwang 
#> Mail: wangpeng@droid.ac.cn;
#> Github:https://github.com/yowlings
#> Created Time: 2018年06月14日 星期四 16时14分27秒
######################################################################################

import rospy, sys, termios, tty
import time
from geometry_msgs.msg import Twist


class multi_keybroad_handle():
        def __init__(self):
                self.pub = rospy.Publisher('/cmd_vel_mux/input/teleop', Twist, queue_size = 1)
                self.old_settings = termios.tcgetattr(sys.stdin)
                r=rospy.Rate(20)
                try:
                        while not rospy.is_shutdown():
                                self.cmd = Twist()
                                self.cmd.linear.x = 0.5
                                # self.cmd.angular.z = 3.1415926*30/180
                                self.pub.publish(self.cmd)
                                r.sleep()

                except :
                        print 'error'
                finally:
                        self.pub.publish(self.cmd)





if __name__=='__main__':
        rospy.init_node('xbot_auto_control')
        try:
                rospy.loginfo( "initialization system")
                multi_keybroad_handle()
                print "process done and quit"
        except rospy.ROSInterruptException:
                rospy.loginfo("node terminated.")
                kkk