robot_params.py 文件源码

def get_joint_names(self, limb_name):
        """
        Return the names of the joints for the specified
        limb from ROS parameter.

        @type  limb_name: str
        @param limb_name: name of the limb for which to retrieve joint names

        @rtype: list [str]
        @return: ordered list of joint names from proximal to distal
                 (i.e. shoulder to wrist). joint names for limb
        """
        joint_names = list()
        try:
            joint_names = rospy.get_param(
                            "robot_config/{0}_config/joint_names".format(limb_name))
        except KeyError:
            rospy.logerr(("RobotParam:get_joint_names cannot detect joint_names for"
                          " arm \"{0}\"").format(limb_name))
        except (socket.error, socket.gaierror):
            self._log_networking_error()
        return joint_names