spqrel_ros.py 文件源码

def _trigger_tobi(self, data):
        rospy.loginfo('trigger tobi')
        self._cam_sub = rospy.Subscriber(
            'spqrel_pepper/camera/front/camera/image_raw',
            Image, self._image_cb
        )
        self._depth_sub = rospy.Subscriber(
            'spqrel_pepper/camera/depth/camera/image_raw',
            Image, self._depth_cb
        )
        self._depth_info_sub = rospy.Subscriber(
            '/spqrel_pepper/camera/depth/camera/camera_info',
            CameraInfo, self._depth_info_cb
        )

        # d = rospy.ServiceProxy('/ms_face_api/detect', Detect)
        # r = DetectRequest()
        # r.topic = 'spqrel_pepper/camera/front/camera/image_raw'
        # res = d.call(r)
        # res_faces = []
        # for f in
        # res_dict = {
        #     'age': res.age,
        #     'gender': res.gender,
        #     'smile': res.smile
        # }
        # print json.dumps(res)