button.py 文件源码

def __init__(self, params):
        self.params = params
        if gpio_available:
            GPIO.setmode(GPIO.BCM)
            GPIO.setwarnings(False)
            GPIO.setup(self.params['pause_button_pin'], GPIO.IN, pull_up_down=GPIO.PUD_UP)
            GPIO.setup(self.params['pause_led_pin'], GPIO.OUT)
        else:
            rospy.logwarn("Ergo hasn't found the GPIO, button will not work")