base.py 文件源码

def update_step_timer(self, step):

        """
        Helper method that shuts the current step timer down, then recreates
        the step timer for the next step in the task.

        If the step timeout is zero, do not create a new timeout; otherwise
        create a new timer using the timeout value.

        Args:
            step (dict): the dictionary object representing the task step.
        """

        if self.step_timer and self.step_timer.is_alive():
            self.step_timer.shutdown()

        if not self.active:
            return

        if step and step.timeout > 0:
            self.step_timer = rospy.Timer(
                rospy.Duration(step.timeout),
                self.step_to_handler,
                oneshot=True
            )