enhanced-rostopic-statistic.py 文件源码

def main(args):
    rospy.init_node('enhanced_rostopic_statistic')
    if not args.window:
        args.window = 10

    ts = TopicStatistic(rospy.Duration(args.window), dst_topic=args.TOPIC, ref_topic=args.ref)

    rospy.Timer(rospy.Duration(1.0), lambda x: ts.process())

    rospy.spin()