First Commit

Deploy_Tienkung/rl_control_node_sim.py

@@ -0,0 +1,32 @@
+import os
+import sys
+
+import rclpy
+import yaml
+
+from rl_control_node import XMIGCSControlNode
+sys.path.append(os.path.dirname(os.path.abspath(__file__)))
+
+
+class XMIGCSControlNode_sim(XMIGCSControlNode):
+    def __init__(self, debug=False):
+        super().__init__(debug)
+        print("rewrite sim")
+        self.robot_interface.sim = True
+
+def main(args=None):
+    """主函数"""
+    rclpy.init(args=args)
+    node = None
+    try:
+        node = XMIGCSControlNode_sim(debug=False)
+        rclpy.spin(node)
+    except KeyboardInterrupt:
+        pass
+    finally:
+        if "node" in locals() and node is not None:
+            node.destroy_node()
+        rclpy.shutdown()
+
+if __name__ == "__main__":
+    main()