node_main.py 文件源码

def define(self):
  self.say=rospy.Publisher('speak_string', String, queue_size=1)
  if not rospy.has_param('~words'):
   rospy.set_param('~words','???????')

  if not rospy.has_param('~SpeakerSubTopic'):
   rospy.set_param('~SpeakerSubTopic', 'stop_flag')

  self.words=rospy.get_param('~words')
  self.topic=rospy.get_param('~SpeakerSubTopic')