smp_thread.py 文件源码

def __init__(self, loop_time = 0.1, pubs = {}, subs = {}):
        """init args: pubs: dict with topic / [type,], subs: dict with topic / [type, callback]"""
        smp_thread.__init__(self, loop_time = loop_time)
        # now init ros node
        rospy.init_node(self.name, anonymous=True)
        # loop frequency / sampling rate
        self.rate = rospy.Rate(1./self.loop_time)
        # local pub / sub
        self.default_queue_size_pub = 2
        self.default_queue_size_sub = 2
        if len(pubs) == 0 and len(subs) == 0:
            self.pub_sub_local_legacy()
        else:
            self.pub_sub_local(pubs, subs)
        # print "smp_thread_ros pubs", self.pub
        # print "smp_thread_ros subs", self.sub