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'])
评论列表
文章目录