learning.py 文件源码

def run(self):
        rospy.Service(self.service_name_perceive, Perceive, self.cb_perceive)
        rospy.Service(self.service_name_produce, Produce, self.cb_produce)
        rospy.Service(self.service_name_set_interest, SetFocus, self.cb_set_focus)
        rospy.Service(self.service_name_set_iteration, SetIteration, self.cb_set_iteration)
        rospy.Service(self.service_name_interests, GetInterests, self.cb_get_interests)
        rospy.loginfo("Learning is up!")

        rate = rospy.Rate(self.params['publish_rate'])
        while not rospy.is_shutdown():
            self.publish()
            rate.sleep()