ros2 cars publish cmd_vel 同步 同时 多车

import rclpy  
from rclpy.node import Node  
from geometry_msgs.msg import Twist  
  
class MyPublisherNode(Node):  
    def __init__(self,x=0.0,z=0.0):  
        super().__init__('my_publisher_node') 
        self.mpubs = []
        # cars="89"
        for i in range(8,10):
            pb=self.create_publisher(Twist, '/Car'+str(i)+'/cmd_vel', 10)  
            self.mpubs.append(pb)
        print(self.mpubs)
        self.x = x
        self.z = z
        self.timer = self.create_timer(0.1, self.timer_callback)  

  
    def timer_callback(self):  
        twist = Twist()  
        twist.linear.x = self.x  # 设置你想要发布的线性速度x分量值  
        twist.angular.z = self.z  # 设置你想要发布的角速度z分量值  
        for pb in self.mpubs:

            pb.publish(twist)  
  
def main(x=0.0,z=0.0):  
    rclpy.init()  
    node = MyPublisherNode(x,z)  
    rclpy.spin(node)  
  
if __name__ == '__main__': 
    import sys 

    print('par', sys.argv, 'x, z, carid: 0.1 0 1')
    if len(sys.argv) >= 3:
        # 获取参数值
        x = float(sys.argv[1])
        z = float(sys.argv[2])
        
        main(x,z)
    else:
      main()