joint_trajectory_file_playback.py 文件源码

def wait(self):
        """
        Waits for and verifies trajectory execution result
        """
        #create a timeout for our trajectory execution
        #total time trajectory expected for trajectory execution plus a buffer
        last_time = self._r_goal.trajectory.points[-1].time_from_start.to_sec()
        time_buffer = rospy.get_param(self._param_ns + 'goal_time', 0.0) + 1.5
        timeout = rospy.Duration(self._slow_move_offset +
                                 last_time +
                                 time_buffer)

        l_finish = self._left_client.wait_for_result(timeout)
        r_finish = self._right_client.wait_for_result(timeout)
        l_result = (self._left_client.get_result().error_code == 0)
        r_result = (self._right_client.get_result().error_code == 0)

        #verify result
        if all([l_finish, r_finish, l_result, r_result]):
            return True
        else:
            msg = ("Trajectory action failed or did not finish before "
                   "timeout/interrupt.")
            rospy.logwarn(msg)
            return False