motion_editor.py 文件源码

def init_ros():
    global compute_com_area
    global compute_support_area
    rospy.init_node('real_time_control')
    rospy.wait_for_service(
        '/contact_stability/static/compute_support_area')
    rospy.wait_for_service(
        '/contact_stability/pendular/compute_support_area')
    compute_com_area = rospy.ServiceProxy(
        '/contact_stability/static/compute_support_area',
        contact_stability.srv.StaticArea)
    compute_support_area = rospy.ServiceProxy(
        '/contact_stability/pendular/compute_support_area',
        contact_stability.srv.PendularArea)