spqrel_ros.py 文件源码

def __init__(self, memory_service, memory_key, latch=False, prefix='/qi/'):
        self.memory_service = memory_service
        try:
            self._pub = rospy.Publisher(prefix + memory_key,
                                        String, latch=latch,
                                        queue_size=1)
            self._sub = self.memory_service.subscriber(memory_key)
            self._sub.signal.connect(self._on_event)
            if latch:
                hist = self.memory_service.getEventHistory(memory_key)
                if len(hist) > 0:
                    try:
                        self._on_event(hist[-1][0])
                    except Exception:
                        pass
            rospy.loginfo('subscribed to %s on Qi' % memory_key)
        except Exception as e:
            rospy.logwarn("Cannot set up for %s: %s" % (memory_key, str(e)))