check_driver_io.py 文件源码

def pos_control(left_hz,right_hz,time_ms):
    rospy.wait_for_service('/put_motor_freqs')
    try:
        p = rospy.ServiceProxy('/put_motor_freqs', PutMotorFreqs)
        res = p(left_hz,right_hz,time_ms)
        return res.accepted
    except rospy.ServiceException, e:
        print "Service call failed: %s"%e
    else:
        return False