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_l2 = self.create_publisher(Float32, '/leftMotorSpeedrobot2', 0)
    self.publisher_r2 = self.create_publisher(Float32, '/rightMotorSpeedrobot2', 0)
    self.publisher_l3 = self.create_publisher(Float32, '/leftMotorSpeedrobot3', 0)
    self.publisher_r3 = self.create_publisher(Float32, '/rightMotorSpeedrobot3', 0)
    self.publisher_l4 = self.create_publisher(Float32, '/leftMotorSpeedrobot4', 0)
    self.publisher_r4 = self.create_publisher(Float32, '/rightMotorSpeedrobot4', 0)
    self.publisher_l5 = self.create_publisher(Float32, '/leftMotorSpeedrobot5', 0)
    self.publisher_r5 = self.create_publisher(Float32, '/rightMotorSpeedrobot5', 0)
    self.publisher_l6 = self.create_publisher(Float32, '/leftMotorSpeedrobot6', 0)
    self.publisher_r6 = self.create_publisher(Float32, '/rightMotorSpeedrobot6', 0)
    self.subscription = self.create_subscription(TFMessage, '/tf', self.listener_callback, 0)
    ' Timer Callback '
    timer_period = 0.01
    self.timer = self.create_timer(timer_period, self.timer_callback)
    self.i = 0
    'Parameters '
    self.k = 1
    self.scene = 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 1 Parameters '
    self.x2 = 0
    self.y2 = 0
    self.Theta2 = 0
    self.v2 = 0
    self.w2 = 0
    self.vL2 = 0
    self.vR2 = 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
    ' Mobile Robot 4 Parameters '
    self.x4 = 0
    self.y4 = 0
    self.Theta4 = 0
    self.v4 = 0
    self.w4 = 0
    self.vL4 = 0
    self.vR4 = 0
    ' Mobile Robot 5 Parameters '
    self.x5 = 0
    self.y5 = 0
    self.Theta5 = 0
    self.v5 = 0
    self.w5 = 0
    self.vL5 = 0
    self.vR5 = 0
    ' Mobile Robot 6 Parameters '
    self.x6 = 0
    self.y6 = 0
    self.Theta6 = 0
    self.v6 = 0
    self.w6 = 0
    self.vL6 = 0
    self.vR6 = 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_l2 = self.create_publisher(Float32, '/leftMotorSpeedrobot2', 0)
    self.publisher_r2 = self.create_publisher(Float32, '/rightMotorSpeedrobot2', 0)
    self.publisher_l3 = self.create_publisher(Float32, '/leftMotorSpeedrobot3', 0)
    self.publisher_r3 = self.create_publisher(Float32, '/rightMotorSpeedrobot3', 0)
    self.publisher_l4 = self.create_publisher(Float32, '/leftMotorSpeedrobot4', 0)
    self.publisher_r4 = self.create_publisher(Float32, '/rightMotorSpeedrobot4', 0)
    self.publisher_l5 = self.create_publisher(Float32, '/leftMotorSpeedrobot5', 0)
    self.publisher_r5 = self.create_publisher(Float32, '/rightMotorSpeedrobot5', 0)
    self.publisher_l6 = self.create_publisher(Float32, '/leftMotorSpeedrobot6', 0)
    self.publisher_r6 = self.create_publisher(Float32, '/rightMotorSpeedrobot6', 0)
    self.subscription = self.create_subscription(TFMessage, '/tf', self.listener_callback, 0)
    ' Timer Callback '
    timer_period = 0.01
    self.timer = self.create_timer(timer_period, self.timer_callback)
    self.i = 0
    'Parameters '
    self.k = 1
    self.scene = 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 1 Parameters '
    self.x2 = 0
    self.y2 = 0
    self.Theta2 = 0
    self.v2 = 0
    self.w2 = 0
    self.vL2 = 0
    self.vR2 = 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
    ' Mobile Robot 4 Parameters '
    self.x4 = 0
    self.y4 = 0
    self.Theta4 = 0
    self.v4 = 0
    self.w4 = 0
    self.vL4 = 0
    self.vR4 = 0
    ' Mobile Robot 5 Parameters '
    self.x5 = 0
    self.y5 = 0
    self.Theta5 = 0
    self.v5 = 0
    self.w5 = 0
    self.vL5 = 0
    self.vR5 = 0
    ' Mobile Robot 6 Parameters '
    self.x6 = 0
    self.y6 = 0
    self.Theta6 = 0
    self.v6 = 0
    self.w6 = 0
    self.vL6 = 0
    self.vR6 = 0