task_server.py 文件源码

def assign_task_proxies(self, task_name):
        """
        Assigns service proxies for specified task.

        Args:
            task_name(str): Name of task to lookup services for. Will assign proxies by
                            looking for service function with formatted string <task_name>_<service_name>
        """
        for task_arr in self.proxy_services: 
            service_name = "{}_{}".format(task_name, task_arr[0])
            #loginfo("WAITING ON SERVIVCE {}".format(service_name))
            rospy.wait_for_service(service_name)
            #loginfo("DONE WAITING ON SERVIVCE {}".format(service_name))
            setattr(
                self.blackboard,
                "{}_proxy".format(task_arr[0]),
                rospy.ServiceProxy(
                    service_name,
                    task_arr[1]
                )
            )

        if self.task_step_serve_sub:
            self.task_step_serve_sub.unregister()

        # Subscribe to topics to failure or success of task steps
        self.task_step_serve_sub = rospy.Subscriber(
            '/needybot/{}/step/serve'.format(task_name),
            ros_msg.String,
            self.task_step_serve_handler
        )
        # Call reset on task
        self.blackboard.reset_proxy(EmptyRequest())