plugin_resources.py 文件源码

def __init__(self, topic_prefix, config_file, robot_config_file, write_lock, bag_file):
        self.topic_prefix = topic_prefix
        self.test_config = config_file

        self.resources_timer_frequency = 4.0  # Hz
        self.timer_interval = 1/self.resources_timer_frequency

        self.testblock_list = self.create_testblock_list()
        self.pid_list = self.create_pid_list()
        self.requested_nodes = {}
        self.res_pipeline = {}

        self.BfW = BagfileWriter(bag_file, write_lock)

        rospy.Timer(rospy.Duration.from_sec(self.timer_interval), self.collect_resource_data)