partialnode.py 文件源码

def publisher(self, *upper_args, **kwargs):
        if not "queue_size" in kwargs:
            kwargs["queue_size"] = 1
        if isinstance(upper_args[0], str):
            topic_name, msg_type = upper_args

            def __decorator(func):
                args = [topic_name, msg_type]
                pub = rospy.Publisher(*args, **kwargs)

                def __inner(*args, **kwargs):
                    msg = func(*args, **kwargs)
                    pub.publish(msg)
                    return msg
                return __inner
            return __decorator
        elif isinstance(upper_args[0], types.TypeType):
            return self.__multi_publisher(upper_args[0], **kwargs)