io_interface.py 文件源码

def revalidate(self, timeout, invalidate_state=True, invalidate_config=True):
        """
        invalidate the state and config topics, then wait up to timeout
        seconds for them to become valid again.
        return true if both the state and config topic data are valid
        """
        if invalidate_state:
            self.invalidate_state()
        if invalidate_config:
            self.invalidate_config()
        timeout_time = rospy.Time.now() + rospy.Duration(timeout)
        while not self.is_state_valid() and not rospy.is_shutdown():
            rospy.sleep(0.1)
            if timeout_time < rospy.Time.now():
                rospy.logwarn("Timed out waiting for node interface valid...")
                return False
        return True