loading_map.py 文件源码

def connectNaoQi(self):
        rospy.loginfo("Node Loading map at %s:%d", self.pip, self.pport)

        self.navigation = self.get_proxy("ALNavigation")
        if self.navigation is None:
            rospy.logerr("Unable to reach ALNavigation.")
            exit(0)

        version_array = self.get_proxy("ALSystem").systemVersion().split('.')
        if len(version_array) < 3:
            rospy.logerr("Unable to deduce the system version.")
            exit(0)
        version_tuple = (int(version_array[0]), int(version_array[1]), int(version_array[2]))
        min_version = (2, 5, 2)
        if version_tuple < min_version:
            rospy.logerr("Naoqi version " + str(min_version) +
            " required for localization. Yours is " + str(version_tuple))
            exit(0)