multiplexer_node.py 文件源码

def __init__(self):
        rospy.init_node('multiplexer_node', anonymous=False)

        rospy.loginfo('\033[93m[%s]\033[0m wait for bringup social_events_memory...'%rospy.get_name())
        rospy.wait_for_service('social_events_memory/read_data')
        self.rd_event_mem = rospy.ServiceProxy('social_events_memory/read_data', ReadData)
        rospy.Subscriber('forwarding_event', ForwardingEvent, self.handle_social_events)
        self.pub_rasing_event = rospy.Publisher('raising_events', RaisingEvents, queue_size=10)

        self.events_queue = Queue.Queue()
        self.recognized_words_queue = Queue.Queue()

        event_period = rospy.get_param('~event_period', 0.5)
        rospy.Timer(rospy.Duration(event_period), self.handle_trigger_events)

        rospy.loginfo('\033[93m[%s]\033[0m initialized...'%rospy.get_name())
        rospy.spin()