perception_base.py 文件源码

def raise_event(self, perception_item, event):
        if not perception_item in self.conf_data.keys():
            rospy.logwarn('<%s> perception is not member of perception configuration...'%perception_item)
            return
        if not event in self.conf_data[perception_item]['events']:
            rospy.logwarn('<%s> event is not member of event list of perception configuration...'%event)
            return

        if not self.is_enable_perception:
            return

        msg = ForwardingEvent()
        msg.header.stamp = rospy.Time.now()
        msg.event = event
        msg.by = perception_item

        self.pub_event.publish(msg)