recipe_handler.py 文件源码

def register_services(self):
        """Register services for instance"""
        rospy.Service(services.START_RECIPE, StartRecipe,
            self.start_recipe_service)
        rospy.Service(services.STOP_RECIPE, Empty, self.stop_recipe_service)
        rospy.set_param(
            params.SUPPORTED_RECIPE_FORMATS,
            ','.join(RECIPE_INTERPRETERS.keys())
        )
        return self