msf_frame.py 文件源码

def get_topic_service_names(self):
        topic_names = {}
        service_names = {}

        # Topics.
        topic_names['msf_odometry'] = rospy.get_param('~msf_odometry_topic', 'msf_core/odometry')

        # Services.
        service_names['init_msf_height'] = rospy.get_param('~init_msf_height_srv',
                                                           'pose_sensor_rovio/pose_sensor/initialize_msf_height')
        service_names['init_msf_scale'] = rospy.get_param('~init_msf_scale_srv',
                                                          'pose_sensor_rovio/pose_sensor/initialize_msf_scale')

        # Check if we should add a leading namespace
        name_space = rospy.get_param('~namespace', '')
        for key, value in topic_names.iteritems():
            topic_names[key] = helpers.get_full_namespace(name_space, value)

        for key, value in service_names.iteritems():
            service_names[key] = helpers.get_full_namespace(name_space, value)

        return topic_names, service_names