init_rovio_enu.py 文件源码

def send_reset_to_rovio_service_callback(self, request):
        response = std_srvs.srv.TriggerResponse()

        if self._automatic_rovio_reset_sent_once or self._send_reset_automatically:
            message = "Reset sent automatically after %d IMU messages, rosservice call refused." % \
                      (self._samples_before_reset)

            rospy.logwarn(rospy.get_name() + " " + message)
            response.success = False
            response.message = message
        elif self._num_imu_msgs_read <= 0:
            response.success = False
            response.message = "No external IMU message received, at least one single orientation is needed."
        elif self._num_gps_transform_msgs_read <= 0:
            response.success = False
            response.message = "No external GPS transform message received, at least one single position is needed."
        else: # everything's fine, send reset
            (success, message) = self.send_reset_to_rovio()
            response.success = success
            response.message = message

        return response