perception.py 文件源码

def run(self):
        for service in [self.service_name_set_compliant]:
            rospy.loginfo("Perception is waiting service {}".format(service))
            rospy.wait_for_service(service)
        self.set_torso_compliant_srv = rospy.ServiceProxy(self.service_name_set_compliant, SetTorsoCompliant)
        rospy.Service(self.service_name_get, GetSensorialState, self.cb_get)
        rospy.Service(self.service_name_record, Record, self.cb_record)
        rospy.loginfo("Done, perception is up!")
        rospy.spin()