partialnode.py 文件源码

def _start(self, spin):
        for args, kwargs in self.subscribers:
            self.subscribers_init.append(rospy.Subscriber(*args, **kwargs))
        is_func = isinstance(self.cl, types.FunctionType)
        is_class = isinstance(self.cl, types.TypeType)
        if is_class:
            targ = self.__start_class
        elif is_func:
            targ = self.__start_func
        self.thread = threading.Thread(target=targ,
                                       args=(self.cl,) + self.cl_args,
                                       kwargs=self.cl_kwargs)
        self.thread.daemon = True
        self.thread.start()
        if spin:
            rospy.spin()
        return self