def vkaibot_ar_marker_callback(self, data): global is_detected_ar global ar_1 global pick_flag global find_id global count_4 global count_1 global count_3 global count_6 global kk if count_1== 0: msg=data.markers kk=len(msg) print("正在识别!") if kk<=0 and pick_flag==0: print"开始旋转,寻找二维码！" twist = Twist() twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = change_z_max_vel self.cmd_vel_pub.publish(twist) if kk>0: for j in range(0,kk,1): kk1=data.markers[j] find_id=kk1.id if count_6==1: if find_id==1 or find_id==0: break; else : if find_id==12 or find_id==4 or find_id==11: break; if kk1.pose.pose.position.x>pick_safe_y_proper_dis : print"开始接近正中间，往左走......" twist = Twist() twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = change_z_vel self.cmd_vel_pub.publish(twist) if kk1.pose.pose.position.x<(-pick_safe_y_proper_dis): print'开始接近正中间，往右走......' twist = Twist() twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0 twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = -change_z_vel self.cmd_vel_pub.publish(twist) if kk1.pose.pose.position.x<=pick_safe_y_proper_dis and kk1.pose.pose.position.x>=(-pick_safe_y_proper_dis): ####制度 if pick_flag ==0:

这是一个Python程序段，用于控制机器人进行二维码识别和移动。程序中设置了一些全局变量和计数器，以及一些判断条件。当条件满足时，程序会执行不同的动作，如旋转寻找二维码、接近二维码并往左或右走等。二维码可以被识别后，可以根据二维码的ID号执行不同的操作。程序的语言比较简单易懂，主要是设置变量和执行不同的动作。