home_joints.py 文件源码

def __init__(self):
        """
        HomeJoints - Class that publishes on /robot/set_homing_mode to
        home the robot if it is not already homed.
        """
        self._hcb_lock = threading.Lock()
        self._ecb_lock = threading.Lock()
        self._homing_state = dict()
        self._enable_state = False
        self._pub_home_joints = rospy.Publisher(
            '/robot/set_homing_mode',
            HomingCommand,
            latch=True,
            queue_size=10)
        self._enable_sub = rospy.Subscriber(
            '/robot/state',
            AssemblyState,
            self._enable_state_cb)
        self._homing_sub = rospy.Subscriber(
            '/robot/homing_states',
            HomingState,
            self._homing_state_cb)