obstacles_client.py 文件源码

def publish_obstacles(timer_event):
    """Requests and publishes obstacles.

    Args:
        timer_event: ROS TimerEvent.
    """
    try:
        moving_obstacles, stationary_obstacles = client.get_obstacles(
            frame, lifetime)
    except (ConnectionError, Timeout) as e:
        rospy.logwarn(e)
        return
    except (ValueError, HTTPError) as e:
        rospy.logerr(e)
        return
    except Exception as e:
        rospy.logfatal(e)
        return

    moving_pub.publish(moving_obstacles)
    stationary_pub.publish(stationary_obstacles)