fake_renderer.py 文件源码

def __init__(self):
        rospy.init_node('fake_renderer', anonymous=True)

        try:
            topic_name = rospy.get_param('~action_name')
        except KeyError as e:
            print('[ERROR] Needed parameter for (topic_name)...')
            quit()

        if 'render_gesture' in rospy.get_name():
            self.GetInstalledGesturesService = rospy.Service(
                "get_installed_gestures",
                GetInstalledGestures,
                self.handle_get_installed_gestures
            )

            self.motion_list = {
                'neutral': ['neutral_motion1'],
                'encourge': ['encourge_motion1'],
                'attention': ['attention_motion1'],
                'consolation': ['consolation_motion1'],
                'greeting': ['greeting_motion1'],
                'waiting': ['waiting_motion1'],
                'advice': ['advice_motion1'],
                'praise': ['praise_motion1'],
                'command': ['command_motion1'],
            }

        self.server = actionlib.SimpleActionServer(
            topic_name, RenderItemAction, self.execute_callback, False)
        self.server.start()

        rospy.loginfo('[%s] initialized...' % rospy.get_name())
        rospy.spin()