passthrough_node.py 文件源码

def create_services(self):
        print("Starting services...")
        # Camera control services
        self._services.append(rospy.Service('get_camera_view', services.GetCameraImage, self.handle_get_camera_image))
        self._services.append(rospy.Service('get_camera_view_with_filename', services.GetCameraImageWithFilename,
                                            self.handle_get_camera_image))
        self._services.append(rospy.Service('get_camera_location', services.GetCameraLocation,
                                            self.handle_get_camera_location))
        self._services.append(rospy.Service('get_camera_rotation', services.GetCameraRotation,
                                            self.handle_get_camera_rotation))
        self._services.append(rospy.Service('get_viewmode', services.GetViewmode, self.handle_get_viewmode))
        self._services.append(rospy.Service('move_camera', services.MoveCamera, self.handle_move_camera))
        self._services.append(rospy.Service('set_camera_location', services.SetCameraLocation,
                                            self.handle_set_camera_location))
        self._services.append(rospy.Service('set_camera_rotation', services.SetCameraRotation,
                                            self.handle_set_camera_rotation))
        self._services.append(rospy.Service('set_viewmode', services.SetViewmode, self.handle_set_viewmode))

        # object control services
        self._services.append(rospy.Service('get_object_color', services.GetObjectColor, self.handle_get_object_color))
        self._services.append(rospy.Service('set_object_color', services.SetObjectColor, self.handle_set_object_color))
        self._services.append(rospy.Service('get_object_location', services.GetObjectLocation,
                                            self.handle_get_object_location))
        self._services.append(rospy.Service('get_object_rotation', services.GetObjectRotation,
                                            self.handle_get_object_rotation))
        self._services.append(rospy.Service('set_object_location', services.SetObjectLocation,
                                            self.handle_set_object_location))
        self._services.append(rospy.Service('set_object_rotation', services.SetObjectRotation,
                                            self.handle_set_object_rotation))