find_cylinder_state.py 文件源码

def get_cylinder_status(self):
        self.cylinder_laser_client.wait_for_service()
        self.cylinder_opencv_client.wait_for_service()
        flag = 0
        r = rospy.Rate(2)
        while not rospy.is_shutdown() and flag != 1:
            res_opencv = self.cylinder_opencv_client()
            res_laser = self.cylinder_laser_client()
            x_laser = res_laser.x
            theta_laser = res_laser.theta
            theta_opencv = res_opencv.theta
            if abs(theta_laser - theta_opencv) < 0.01:
                flag = 1
                break
            r.sleep()
        return (x_laser,theta_laser)