self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
self.wheel_size = float(rospy.get_param('~wheel_size', "0.0255"))
self.pub_motor = rospy.Publisher("ft/set_motor", Motor)
self.pub_odom = rospy.Publisher("odom", Odometry)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)
self.pub_odom = rospy.Publisher("odom", Odometry)
rospy.Subscriber("cmd_vel", Twist, self.cmdVelReceived)