torso.py 文件源码

def __init__(self):
        self.rospack = RosPack()
        with open(join(self.rospack.get_path('apex_playground'), 'config', 'torso.json')) as f:
            self.params = json.load(f)

        self.publish_rate = rospy.Rate(self.params['publish_rate'])
        self.demo = rospy.get_param('demo_mode')

        # Protected resources
        self.in_rest_pose = False
        self.robot_lock = RLock()

        # Used services
        self.torso = TorsoServices(self.params['robot_name'])

        # Proposed services
        self.reset_srv_name = 'torso/reset'
        self.reset_srv = None