manager.py 文件源码

def __init__(self, worker_id, outside_ros=False):
        self.worker_id = worker_id
        self.outside_ros = outside_ros
        if self.outside_ros:
            rospy.logwarn('Controller is using ZMQ to get work')
            self.context = Context()
            self.socket = self.context.socket(REQ)
            self.socket.connect('tcp://127.0.0.1:33589')
        else:
            rospy.logwarn('Controller is using ROS to get work')

            self.services = {'get': {'name': '/work/get', 'type': GetWork},
                             'update': {'name': '/work/update', 'type': UpdateWorkStatus}}
            for service_name, service in self.services.items():
                rospy.loginfo("Controller is waiting service {}...".format(service['name']))
                rospy.wait_for_service(service['name'])
                service['call'] = rospy.ServiceProxy(service['name'], service['type'])