handeye_server.py 文件源码

def compute_calibration(self, _):
        self.last_calibration = self.calibrator.compute_calibration()
        # TODO: avoid confusion class/msg, change class into HandeyeCalibrationConversions
        ret = hec.srv.ComputeCalibrationResponse()
        if self.last_calibration is None:
            rospy.logwarn('No valid calibration computed, returning null')
            return ret
        ret.calibration.eye_on_hand = self.last_calibration.eye_on_hand
        ret.calibration.transform = self.last_calibration.transformation
        return ret