robot_recorder.py 文件源码

def init_traj(self, itr):
        assert self.instance_type == 'main'
        # request init service for auxiliary recorders
        if self.use_aux:
            try:
                rospy.wait_for_service('init_traj', timeout=1)
                resp1 = self.init_traj_func(itr, self.igrp)
            except (rospy.ServiceException, rospy.ROSException), e:
                rospy.logerr("Service call failed: %s" % (e,))
                raise ValueError('get_kinectdata service failed')

        self._init_traj_local(itr)

        if ((itr+1) % self.ngroup) == 0:
            self.igrp += 1