check_state_for_collisions.py 文件源码

def __init__(self):
        # create subscribers, timers, clients, etc.
        try:
            rospy.wait_for_service("/check_state_validity", timeout=5)
        except ROSException:
            rospy.logwarn("[check_collisions_node] Done waiting for /check_state_validity service... service not found")
            rospy.logwarn("shutting down...")
            rospy.signal_shutdown("service unavailable")
        except ROSInterruptException:
            pass
        self.coll_client = rospy.ServiceProxy("check_state_validity", GetStateValidity)
        self.js_sub = rospy.Subscriber("joint_state_check", numpy_msg(Float32MultiArray), self.js_cb)
        self.js_pub = rospy.Publisher("collision_check", Int16, queue_size = 10)
        return