find_volleyball.py 文件源码

def find_volleyball(self):
        self.find_ball_client.wait_for_service()
        res = self.find_ball_client(False)
        x = res.z
        y = -res.x
        theta = -res.theta
        if_volleyball = res.if_volleyball
        r = rospy.Rate(50)
        while not if_volleyball == True:
            res = self.find_ball_client(False)
            x = res.z
            y = -res.x
            theta = -res.theta
            if_volleyball = res.if_volleyball
        if if_volleyball == True:
            return (x,y,theta)
    #??????????????????????
    #??????????