def __init__(self):
    super().__init__('minimal_publisher1')
    self.publisher_l1 = self.create_publisher(Float32, '/leftMotorSpeedrobot1', 0)
    self.publisher_r1 = self.create_publisher(Float32, '/rightMotorSpeedrobot1', 0)
    self.publisher_l3 = self.create_publisher(Float32, '/leftMotorSpeedrobot3', 0)
    self.publisher_r3 = self.create_publisher(Float32, '/rightMotorSpeedrobot3', 0)
    self.subscription = self.create_subscription(TFMessage, '/tf', self.listener_callback, 0)
    ' Timer Callback '
    timer_period = 0.1
    self.timer = self.create_timer(timer_period, self.timer_callback)
    self.i = 0
    ' Parameters '
    self.t = 0
    " Initialize Phi's"
    self.Phix1 = 0
    self.Phiy1 = 0
    self.Phix3 = 0
    self.Phiy3 = 0
    ' Mobile Robot 1 Parameters '
    self.x1 = 0
    self.y1 = 0
    self.Theta1 = 0
    self.v1 = 0
    self.w1 = 0
    self.vL1 = 0
    self.vR1 = 0
    ' Mobile Robot 3 Parameters '
    self.x3 = 0
    self.y3 = 0
    self.Theta3 = 0
    self.v3 = 0
    self.w3 = 0
    self.vL3 = 0
    self.vR3 = 0
def __init__(self):
    super().__init__('minimal_publisher1')
    self.publisher_l1 = self.create_publisher(Float32, '/leftMotorSpeedrobot1', 0)
    self.publisher_r1 = self.create_publisher(Float32, '/rightMotorSpeedrobot1', 0)
    self.publisher_l3 = self.create_publisher(Float32, '/leftMotorSpeedrobot3', 0)
    self.publisher_r3 = self.create_publisher(Float32, '/rightMotorSpeedrobot3', 0)
    self.subscription = self.create_subscription(TFMessage, '/tf', self.listener_callback, 0)
    ' Timer Callback '
    timer_period = 0.1
    self.timer = self.create_timer(timer_period, self.timer_callback)
    self.i = 0
    ' Parameters '
    self.t = 0
    " Initialize Phi's"
    self.Phix1 = 0
    self.Phiy1 = 0
    self.Phix3 = 0
    self.Phiy3 = 0
    ' Mobile Robot 1 Parameters '
    self.x1 = 0
    self.y1 = 0
    self.Theta1 = 0
    self.v1 = 0
    self.w1 = 0
    self.vL1 = 0
    self.vR1 = 0
    ' Mobile Robot 3 Parameters '
    self.x3 = 0
    self.y3 = 0
    self.Theta3 = 0
    self.v3 = 0
    self.w3 = 0
    self.vL3 = 0
    self.vR3 = 0