work_manager.py 文件源码

def run_within_ros(self):
        rospy.logwarn('Work Manager is using ROS to distribute work')

        # Use ROS for work manager <-> controller comm
        rospy.Service('work/get', GetWork, lambda req: GetWorkResponse(**self._cb_get_work(req.worker)))
        rospy.Service('work/update', UpdateWorkStatus, lambda req: UpdateWorkStatusResponse(**self._cb_update_work(req.task, req.trial, req.worker, req.iteration, req.success)))
        rospy.Service('work/add', AddWork, self._cb_add_work)

        rospy.spin()