rtk_info_frame.py 文件源码

def get_topic_names(self):
        # RTK info topics
        topic_names = {}

        topic_names['piksi_receiver_state'] = rospy.get_param('~piksi_receiver_state_topic',
                                                              'piksi/debug/receiver_state')
        topic_names['piksi_uart_state'] = rospy.get_param('~piksi_uart_state_topic',
                                                          'piksi/debug/uart_state')
        topic_names['piksi_baseline_ned'] = rospy.get_param('~piksi_baseline_ned_topic',
                                                            'piksi/baseline_ned')
        topic_names['piksi_wifi_corrections'] = rospy.get_param('~piksi_num_wifi_corrections_topic',
                                                                'piksi/debug/wifi_corrections')
        topic_names['piksi_navsatfix_rtk_fix'] = rospy.get_param('~piksi_navsatfix_rtk_fix',
                                                                 'piksi/navsatfix_rtk_fix')
        topic_names['piksi_age_of_corrections'] = rospy.get_param('~piksi_age_of_corrections_topic',
                                                                  'piksi/age_of_corrections')

        # 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)

        return topic_names