jaco.py 文件源码

def home(self):
        addr = '/{}_driver/in/home_arm'.format(self.robot_type)
        rospy.wait_for_service(addr)
        try:
            serv = rospy.ServiceProxy(addr, HomeArm)
            rep = serv()
            rospy.loginfo(rep)
        except rospy.ServiceException as e:
            rospy.loginfo("Service error {}".format(e))