将C++#include <ros/ros.h> #include <ros/package.h> #include <quadrotor_msgs/PositionCommand.h> #include <nav_msgs/Odometry.h> #include <sensor_msgs/Joy.h> #include<mavros_msgs/AttitudeTarget.h> #include <tf/tf.h> #include <math.h>转成Python

以下是将C++代码转换为Python代码的结果：

import rospy
import rospkg
from quadrotor_msgs.msg import PositionCommand
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Joy
from mavros_msgs.msg import AttitudeTarget
from tf.transformations import euler_from_quaternion
import math

rospy.init_node('node_name')

def position_cmd_callback(msg):
    # handle position command message
    pass

def odometry_callback(msg):
    # handle odometry message
    pass

def joy_callback(msg):
    # handle joystick message
    pass

def attitude_target_callback(msg):
    # handle attitude target message
    pass

rospy.Subscriber('/position_cmd', PositionCommand, position_cmd_callback)
rospy.Subscriber('/odometry', Odometry, odometry_callback)
rospy.Subscriber('/joy', Joy, joy_callback)
rospy.Subscriber('/mavros/setpoint_raw/attitude', AttitudeTarget, attitude_target_callback)

rospy.spin()

请注意，由于Python语言的特点，代码的结构和语法与C++可能略有不同。此外，需要针对Python的ROS库进行适当的调整。