删除base_controller.py中无用的import queue

src/ros_arduino_bridge/ros_arduino_python/src/ros_arduino_python/base_controller.py

@@ -15,7 +15,6 @@ import rospy
 import time
 import roslib; roslib.load_manifest('ros_arduino_python')
 import dynamic_reconfigure.client
-import queue
 
 from math import sin, cos, pi, sqrt
 import numpy as np
@@ -30,27 +29,27 @@ class SimplePID:
 	def __init__(self, target, P, I, D):
 		'''Create a discrete PID controller
 		each of the parameters may be a vector if they have the same length
-		
+
 		Args:
 		target (double) -- the target value(s)
 		P, I, D (double)-- the PID parameter
 
 		'''
 
-		# check if parameter shapes are compatabile. 
+		# check if parameter shapes are compatabile.
 		self.Kp		=np.array(P)
 		self.Ki		=np.array(I)
 		self.Kd		=np.array(D)
 		self.setPoint   =np.array(target)
-		
+
 		self.last_error=0
 		self.integrator = 0
 		self.integrator_max = float('inf')
-		self.timeOfLastCall = None 
-		
-		
+		self.timeOfLastCall = None
+
+
 	def update(self, current_value):
-		'''Updates the PID controller. 
+		'''Updates the PID controller.
 
 		Args:
 			current_value (double): vector/number of same legth as the target given in the constructor
@@ -66,23 +65,23 @@ class SimplePID:
 			self.timeOfLastCall = time.clock()
 			return np.zeros(np.size(current_value))
 
-		
+
 		error = self.setPoint - current_value
 		P =  error
-		
+
 		currentTime = time.clock()
 		deltaT      = (currentTime-self.timeOfLastCall)
 
 		# integral of the error is current error * time since last update
 		self.integrator = self.integrator + (error*deltaT)
 		I = self.integrator
-		
+
 		# derivative is difference in error / time since last update
 		D = (error-self.last_error)/deltaT
-		
+
 		self.last_error = error
 		self.timeOfLastCall = currentTime
-		
+
 		# return controll signal
 		return self.Kp*P + self.Ki*I + self.Kd*D
 
@@ -459,11 +458,11 @@ class BaseController:
 
     def get_yaw(self):
         rospy.wait_for_service(self.yaw_data_service)
-        try: 
+        try:
             yaw_data = rospy.ServiceProxy(self.yaw_data_service, GetYawData)
             resp = yaw_data()
-            return resp.yaw    
-        except rospy.ServiceException, e:            
+            return resp.yaw
+        except rospy.ServiceException, e:
             print "Service call failed: %s"%e
 
     def reset_pid_controller(self):
@@ -472,7 +471,7 @@ class BaseController:
         self.pid_controller.timeOfLastCall = None
 
     def cmdVelCallback(self, req):
-        
+
         # Handle velocity-based movement requests
         self.last_cmd_time = rospy.Time.now()
 
@@ -494,7 +493,7 @@ class BaseController:
                     #print("err_yaw_data is ",err_yaw_data,"th is ",th)
         else:
             self.correction_yaw_flag = 0
-            self.reset_pid_controller()  
+            self.reset_pid_controller()
 
         #Inverse Kinematic
         tmpX = sqrt(3)/2.0