plugin_obstacle_distance.py 文件源码

def __init__(self, topic_prefix, config_file, robot_config_file, write_lock, bag_file):
        self.topic_prefix = topic_prefix
        self.test_config = config_file
        self.robot_config_file = robot_config_file

        resources_timer_frequency = 100.0  # Hz
        self.timer_interval = 1/resources_timer_frequency
        self.res_pipeline = {}

        self.BfW = BagfileWriter(bag_file, write_lock)

        rospy.loginfo("Waiting for obstacle_distance node...")
        rospy.wait_for_service(self.robot_config_file["obstacle_distance"]["services"])
        self.obstacle_distance_server = rospy.ServiceProxy(self.robot_config_file["obstacle_distance"]["services"],
                                                           GetObstacleDistance)

        rospy.Timer(rospy.Duration.from_sec(self.timer_interval), self.collect_obstacle_distances)