diagnostics.py 文件源码

def __init__(self):
        self.charging_state =  {0:"Not Charging",
                                1:"Reconditioning Charging",
                                2:"Full Charging",
                                3:"Trickle Charging",
                                4:"Waiting",
                                5:"Charging Fault Condition"}
        self.charging_source = {0:"None",
                                1:"Internal Charger",
                                2:"Base Dock"}
        self.digital_outputs = {0:"OFF",
                                1:"ON"}
        self.oi_mode = {1:"Passive",
                        2:"Safe",
                        3:"Full"}
        self.diag_pub = rospy.Publisher('/diagnostics', DiagnosticArray)
        self.last_diagnostics_time = rospy.get_rostime()