controller.py 文件源码

def __init__(self):
        self.rospack = RosPack()
        with open(join(self.rospack.get_path('apex_playground'), 'config', 'general.json')) as f:
            self.params = json.load(f)

        with open(join(self.rospack.get_path('apex_playground'), 'config', 'torso.json')) as f:
            self.torso_params = json.load(f)

        self.outside_ros = rospy.get_param('/use_sim_time', False)  # True if work manager <-> controller comm must use ZMQ
        id = search(r"(\d+)", rospy.get_namespace())
        self.worker_id = 0 if id is None else int(id.groups()[0])  # TODO string worker ID
        self.work = WorkManager(self.worker_id, self.outside_ros)
        self.torso = Torso()
        self.ergo = Ergo()
        self.learning = Learning()
        self.perception = Perception()
        self.recorder = Recorder()
        self.demonstrate = ""  # Skill (Target space for Produce) or empty string if not running assessment

        # Served services
        self.service_name_demonstrate = "controller/assess"
        rospy.Service(self.service_name_demonstrate, Assess, self.cb_assess)

        rospy.loginfo('Controller fully started!')