robot_enable.py 文件源码

def version_check(self):
        """
        Verifies the version of the software running on the robot is
        compatible with this local version of the Intera SDK.

        Currently uses the variables in intera_interface.settings and
        can be overridden for all default examples by setting CHECK_VERSION
        to False.

        @rtype: bool
        @return: Returns True if SDK version is compatible with robot Version, False otherwise
        """
        param_name = "/manifest/robot_software/version/HLR_VERSION_STRING"
        sdk_version = settings.SDK_VERSION

        # get local lock for rosparam threading bug
        with self.__class__.param_lock:
            robot_version = rospy.get_param(param_name, None)
        if not robot_version:
            rospy.logwarn("RobotEnable: Failed to retrieve robot version "
                          "from rosparam: %s\n"
                          "Verify robot state and connectivity "
                          "(i.e. ROS_MASTER_URI)", param_name)
            return False
        else:
            # parse out first 3 digits of robot version tag
            pattern = ("^([0-9]+)\.([0-9]+)\.([0-9]+)")
            match = re.search(pattern, robot_version)
            if not match:
                rospy.logwarn("RobotEnable: Invalid robot version: %s",
                              robot_version)
                return False
            robot_version = match.string[match.start(1):match.end(3)]
            if robot_version not in settings.VERSIONS_SDK2ROBOT[sdk_version]:
                errstr_version = """RobotEnable: Software Version Mismatch.
Robot Software version (%s) does not match local SDK version (%s). Please
Update your Robot Software. \
See: http://sdk.rethinkrobotics.com/intera/Software_Update"""
                rospy.logerr(errstr_version, robot_version, sdk_version)
                return False
        return True