apriltagによるbeetleの推定x座標publisher

robots/beetle/script/apriltagposition.py

@@ -0,0 +1,39 @@
+#!/usr/bin/env python
+
+import rospy
+from apriltag_ros.msg import AprilTagDetectionArray
+from std_msgs.msg import Float64
+
+class aprilBasedNav():
+    def __init__(self):            
+        rospy.init_node("subpub2")
+        # define and initialize member veriants and functions(publisher, subscriber, others)
+        self.detectionx = 0.0
+        self.pub = rospy.Publisher('detectionx', Float64, queue_size=1)
+        self.sub = rospy.Subscriber('tag_detections', AprilTagDetectionArray, self.callback)
+        self.rate = rospy.Rate(10)
+
+    def callback(self,data):
+        self.detectionx = data.detections[0].pose.pose.pose.position.x
+        print(self.detectionx)
+
+    # def subpub():
+    #     global detectionx
+    #     rospy.init_node('subpub', anonymous = True)
+    #     sub = rospy.Subscriber('tag_detections', AprilTagDetectionArray, callback)
+    #     pub = rospy.Publisher('detectionx', Float64, queue_size=1)
+    #     rate = rospy.Rate(10)
+
+    def main(self):
+        while not rospy.is_shutdown():
+            self.pub.publish(self.detectionx)
+            self.rate.sleep()
+            # main process
+            # pub.publish(detectionx)
+            # rate.sleep()
+
+if __name__ == "__main__":
+    try:
+        april_base_nav = aprilBasedNav()
+        april_base_nav.main()
+    except rospy.ROSInterruptException: pass