smp_thread.py 文件源码

def __init__(self, loop_time = 0.1):
        # super init
        threading.Thread.__init__(self)
        self.name = str(self.__class__).split(".")[-1].replace("'>", "")
        signal.signal(signal.SIGINT, self.shutdown_handler)
        # print self.__class__
        # print "self.name", self.name
        # 20170314: remove this from base smp_thread because is is NOT ros
        # rospy.init_node(self.name, anonymous=True)
        # rospy.init_node(self.name, anonymous=False)
        # initialize pub sub
        self.pub_sub()
        # initialize services
        self.srv()

        self.isrunning = True
        self.cnt_main = 0
        self.loop_time = loop_time