visual_mpc_client.py 文件源码

def init_traj(self):
        try:
            # self.recorder.init_traj(itr)
            if self.use_goalimage:
                goal_img_main, goal_state = self.load_goalimage()
                goal_img_aux1 = np.zeros([64, 64, 3])
            else:
                goal_img_main = np.zeros([64, 64, 3])
                goal_img_aux1 = np.zeros([64, 64, 3])

            goal_img_main = self.bridge.cv2_to_imgmsg(goal_img_main)
            goal_img_aux1 = self.bridge.cv2_to_imgmsg(goal_img_aux1)

            rospy.wait_for_service('init_traj_visualmpc', timeout=1)
            self.init_traj_visual_func(0, 0, goal_img_main, goal_img_aux1, self.save_subdir)

        except (rospy.ServiceException, rospy.ROSException), e:
            rospy.logerr("Service call failed: %s" % (e,))
            raise ValueError('get_kinectdata service failed')