work_manager.py 文件源码

def __init__(self, outside_ros=False):
        self.rospack = RosPack()
        self.num_workers = 0
        self.outside_ros = rospy.get_param('/use_sim_time', outside_ros)  # True if work manager <-> controller comm must use ZMQ
        self.file_experiment = join(self.rospack.get_path('apex_playground'), 'config', 'experiment.json')

        with open(self.file_experiment) as f:
            experiment = self.check(json.load(f))
        rospy.set_param('/work', experiment)
        self.lock_experiment = RLock()
        self.failing_workers = {}  # association {num_worker: remaining attempts before blacklist}