base.py 文件源码

def run(self):

        """
        Pi Trees run callback that gets called when a previous task is completed.
        Responsible for spawning up next task and passing data
        b/t previous task and new one.
        """

        # sleep to make sure completion audio and expression don't get
        # overrun by the next task
        if not self.spawning:
            self.spawning = True
            if self.spawn_delay > 0:
              self.timer = rospy.Timer(rospy.Duration(self.spawn_delay), self.timer_handler, oneshot=True)
            else:
              self.timer_handler()

        return pt.TaskStatus.RUNNING