handeye_server.py 文件源码

def __init__(self):
        self.calibrator = HandeyeCalibrator()

        self.get_sample_list_service = rospy.Service(hec.GET_SAMPLE_LIST_TOPIC,
                                                     hec.srv.TakeSample, self.get_sample_lists)
        self.take_sample_service = rospy.Service(hec.TAKE_SAMPLE_TOPIC,
                                                 hec.srv.TakeSample, self.take_sample)
        self.remove_sample_service = rospy.Service(hec.REMOVE_SAMPLE_TOPIC,
                                                   hec.srv.RemoveSample, self.remove_sample)
        self.compute_calibration_service = rospy.Service(hec.COMPUTE_CALIBRATION_TOPIC,
                                                         hec.srv.ComputeCalibration, self.compute_calibration)
        self.save_calibration_service = rospy.Service(hec.SAVE_CALIBRATION_TOPIC,
                                                      std_srvs.srv.Empty, self.save_calibration)

        # Useful for secondary input sources (e.g. programmable buttons on robot)
        self.take_sample_topic = rospy.Subscriber(hec.TAKE_SAMPLE_TOPIC,
                                                  std_msgs.msg.Empty, self.take_sample)
        self.compute_calibration_topic = rospy.Subscriber(hec.REMOVE_SAMPLE_TOPIC,
                                                          std_msgs.msg.Empty, self.remove_last_sample)  # TODO: normalize

        self.last_calibration = None