turtlebot_node.py 文件源码

def set_operation_mode(self,req):
        if not self.robot.sci:
            raise Exception("Robot not connected, SCI not available")

        self.operate_mode = req.mode

        if req.mode == 1: #passive
            self._robot_run_passive()
        elif req.mode == 2: #safe
            self._robot_run_safe()
        elif req.mode == 3: #full
            self._robot_run_full()
        else:
            rospy.logerr("Requested an invalid mode.")
            return SetTurtlebotModeResponse(False)
        return SetTurtlebotModeResponse(True)