nao_walker_v2.py 文件源码

def handleTargetPose(self, data, post=True):
        """handles cmd_pose requests, walks to (x,y,theta) in robot coordinate system"""

        rospy.logdebug("Walk target_pose: %f %f %f", data.x,
                data.y, data.theta)

        self.gotoStartWalkPose()

        try:
            if post:
                self.motionProxy.post.moveTo(data.x, data.y, data.theta, self.footGaitConfig)
            else:
                self.motionProxy.moveTo(data.x, data.y, data.theta, self.footGaitConfig)
            return True
        except RuntimeError,e:
            rospy.logerr("Exception caught in handleTargetPose:\n%s", e)
            return False