fc.py 文件源码

def start(self, name):
        """ Start the field computer """
        rospy.init_node(name)
        self.oclog('Getting robot_name')
        while not rospy.has_param('/ihmc_ros/robot_name'):
            print "-------------------------------------------------"
            print "Cannot run team_zarj_main.py, missing parameters!"
            print "Missing parameter '/ihmc_ros/robot_name'"
            print "Likely connection to ROS not present. Retry in 1 second."
            print "-------------------------------------------------"
            time.sleep(1)

        self.oclog('Booting ZarjOS')
        self.zarj = ZarjOS()

        self.start_task_service = rospy.ServiceProxy(
            "/srcsim/finals/start_task", StartTask)
        self.task_subscriber = rospy.Subscriber(
            "/srcsim/finals/task", Task, self.task_status)
        self.harness_subscriber = rospy.Subscriber(
            "/srcsim/finals/harness", Harness, self.harness_status)
        if HAS_SCORE:
            self.score_subscriber = rospy.Subscriber(
                "/srcsim/finals/score", Score, self.score_status)

        rate = rospy.Rate(10) # 10hz
        if self.task_subscriber.get_num_connections() == 0:
            self.oclog('waiting for task publisher...')
            while self.task_subscriber.get_num_connections() == 0:
                rate.sleep()
            if self.harness_subscriber.get_num_connections() == 0:
                self.oclog('waiting for harness publisher...')
                while self.harness_subscriber.get_num_connections() == 0:
                    rate.sleep()
            self.oclog('...got it, field computer is operational!')