Module Import alias Import alias ImportFrom alias ImportFrom alias Assign NameStore Dict Str Str Str Str Str ListLoad Num Num ListLoad Num Num ListLoad Num Num ListLoad Num Num ListLoad Num Num Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore NameLoad Assign NameStore ListLoad Num Num Assign NameStore ListLoad Num Num FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Assign NameStore BinOpMult NameLoad Call AttributeLoad BinOpSub NameLoad NameLoad attr Assign NameStore IfExp CompareGt NameLoad NameLoad Num Num Assign NameStore Call AttributeLoad NameLoad attr BinOpSub NameLoad NameLoad If CompareLt NameLoad NameLoad body Return NameLoad orelse Return BinOpAdd NameLoad BinOpMult NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam NameParam NameParam defaults body Assign NameStore Call NameLoad Assign AttributeStore AttributeLoad NameLoad attr attr Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad NameLoad attr attr Call NameLoad AttributeLoad AttributeLoad NameLoad attr attr AttributeLoad AttributeLoad NameLoad attr attr NameLoad NameLoad SubscriptLoad NameLoad Index Num Return NameLoad decorator_list FunctionDef arguments args defaults body Global identifier identifier identifier identifier identifier identifier Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call NameLoad NameLoad NameLoad NameLoad NameLoad NameLoad Assign NameStore NameLoad Expr Call AttributeLoad NameLoad attr NameLoad decorator_list FunctionDef arguments args NameParam defaults body Global identifier identifier identifier If BoolOpOr CompareEq Call NameLoad AttributeLoad NameLoad attr Num UnaryOpNot Call AttributeLoad NameLoad attr SubscriptLoad AttributeLoad NameLoad attr Index Num body Return Assign NameStore SubscriptLoad NameLoad Index SubscriptLoad AttributeLoad NameLoad attr Index Num Assign AttributeStore AttributeLoad NameLoad attr attr BinOpMult SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num Assign AttributeStore AttributeLoad NameLoad attr attr BinOpMult SubscriptLoad NameLoad Index Num SubscriptLoad NameLoad Index Num decorator_list FunctionDef arguments args NameParam NameParam defaults body If Call AttributeLoad NameLoad attr NameLoad body Return Call AttributeLoad NameLoad attr NameLoad orelse Print BinOpMod Str TupleLoad NameLoad NameLoad Return NameLoad decorator_list If CompareEq NameLoad Str body Expr Call AttributeLoad NameLoad attr Str Assign NameStore Call AttributeLoad AttributeLoad NameLoad attr attr Assign NameStore Call AttributeLoad NameLoad attr Str NameLoad keyword Num Expr Call AttributeLoad NameLoad attr Str NameLoad NameLoad Assign NameStore Call NameLoad Assign NameStore Call NameLoad Assign SubscriptStore NameLoad Index Num Call NameLoad Str Num Assign SubscriptStore NameLoad Index Num Call NameLoad Str Num Assign SubscriptStore NameLoad Index Num Call NameLoad Str Num Assign SubscriptStore NameLoad Index Num Call NameLoad Str Num Assign NameStore Call AttributeLoad NameLoad attr Num While UnaryOpNot Call AttributeLoad NameLoad attr body Expr Call NameLoad Expr Call AttributeLoad NameLoad attr
N/A N/A rospy N/A math std_msgs.msg String geometry_msgs.msg Twist N/A key_mapping N/A w x a d s N/A 0 1 N/A 0 -1 N/A 1 0 N/A -1 0 N/A 0 0 N/A g_twist_pub None N/A g_target_twist None N/A g_last_twist None N/A g_last_send_time None N/A g_vel_scales N/A 0.1 0.1 N/A g_vel_ramps N/A 1 1 ramped_vel N/A N/A v_prev v_target t_prev t_now ramp_rate N/A N/A N/A step N/A ramp_rate N/A N/A N/A t_now t_prev to_sec N/A sign N/A N/A v_target v_prev 1.0 -1.0 N/A error N/A N/A math fabs N/A v_target v_prev N/A N/A error step N/A N/A v_target N/A N/A N/A v_prev N/A sign step N/A ramped_twist N/A N/A prev target t_prev t_now ramps N/A N/A N/A tw N/A Twist N/A N/A N/A tw angular z N/A ramped_vel N/A N/A prev angular z N/A N/A target angular z t_prev t_now N/A ramps N/A 0 N/A N/A N/A tw linear x N/A ramped_vel N/A N/A prev linear x N/A N/A target linear x t_prev t_now N/A ramps N/A 1 N/A tw N/A send_twist N/A N/A N/A N/A N/A g_last_twist_send_time g_target_twist g_last_twist g_vel_scales g_vel_ramps g_twist_pub N/A t_now N/A N/A N/A rospy Time now N/A g_last_twist N/A ramped_twist g_last_twist g_target_twist g_last_twist_send_time t_now g_vel_ramps N/A g_last_twist_send_time t_now N/A N/A N/A g_twist_pub publish g_last_twist N/A keys_cb N/A N/A msg N/A N/A N/A g_target_twist g_last_twist g_vel_scales N/A N/A N/A N/A len N/A msg data 0 N/A N/A N/A key_mapping has_key N/A N/A msg data N/A 0 N/A N/A N/A vels N/A key_mapping N/A N/A N/A msg data N/A 0 N/A N/A N/A g_target_twist angular z N/A N/A vels N/A 0 N/A g_vel_scales N/A 0 N/A N/A N/A g_target_twist linear x N/A N/A vels N/A 1 N/A g_vel_scales N/A 1 N/A fetch_param N/A N/A name default N/A N/A N/A N/A N/A rospy has_param name N/A N/A N/A N/A rospy get_param name N/A N/A N/A parameter [%s] not defined. Defaulting to %.3f N/A name default N/A default N/A N/A N/A __name__ __main__ N/A N/A N/A N/A rospy init_node keys_to_twist N/A g_last_twist_send_time N/A N/A N/A rospy Time now N/A g_twist_pub N/A N/A rospy Publisher cmd_vel Twist queue_size 1 N/A N/A N/A rospy Subscriber keys String keys_cb N/A g_target_twist N/A Twist N/A g_last_twist N/A Twist N/A N/A g_vel_scales N/A 0 N/A fetch_param ~angular_scale 0.1 N/A N/A g_vel_scales N/A 1 N/A fetch_param ~linear_scale 0.1 N/A N/A g_vel_ramps N/A 0 N/A fetch_param ~angular_accel 1.0 N/A N/A g_vel_ramps N/A 1 N/A fetch_param ~linear_accel 1.0 N/A rate N/A N/A rospy Rate 20 N/A N/A N/A N/A rospy is_shutdown N/A N/A N/A send_twist N/A N/A N/A rate sleep