zarjcheckpoint.py 文件源码

def run(self):
        rospy.loginfo('start task {} checkpoint {}.'.format(self.task.task_id, self.checkpoint_id))
        self.start_time = rospy.get_rostime()
        self.setup()
        while not self.stopped or not self.is_done():
            self.periodic()
            rospy.sleep(0.01)
        self.cleanup()

        rospy.loginfo('end task {} checkpoint {}.'.format(self.task.task_id, self.checkpoint_id))