nao_walker_v2.py 文件源码

def handleStep(self, data):
        rospy.logdebug("Step leg: %d; target: %f %f %f", data.leg, data.pose.x,
                data.pose.y, data.pose.theta)
        try:
            if data.leg == StepTarget.right:
                leg = "RLeg"
            elif data.leg == StepTarget.left:
                leg = "LLeg"
            else:
                rospy.logerr("Received a wrong leg constant: %d, ignoring step command", data.leg)
                return
            self.motionProxy.stepTo(leg, data.pose.x, data.pose.y, data.pose.theta)
            return True
        except RuntimeError, e:
            rospy.logerr("Exception caught in handleStep:\n%s", e)
            return False