proxy.py 文件源码

def run(self):
        self.topic_type = wait_topic_ready(self.topic_name, self.url)
    #print str(self.topic_type)+"  self.topic_type"
        if not self.topic_type:
            rospy.logerr('Type of topic %s are not equal in the remote and local sides', self.topic_name)
            return

        topic_type_module, topic_type_name = tuple(self.topic_type.split('/'))
        try:       
            roslib.load_manifest(topic_type_module)
            msg_module = import_module(topic_type_module + '.msg')
            self.rostype = getattr(msg_module, topic_type_name)

            if self.test:
                self.publisher = rospy.Publisher(self.topic_name + '_rb', self.rostype, queue_size = self.queue_size)
            else: 
                self.publisher = rospy.Publisher(self.topic_name, self.rostype, queue_size = self.queue_size)

            self.ws = websocket.WebSocketApp(self.url, on_message = self.on_message, on_error = self.on_error, on_close = self.on_close, on_open = self.on_open)
            rospy.loginfo('Create connection to Rosbridge server %s for subscribed topic %s successfully', self.url, self.topic_name)
            self.ws.run_forever()
        except ResourceNotFound, e:
            rospy.logerr('Proxy for subscribed topic %s init falied. Reason: Could not find the required resource: %s', self.topic_name, str(e))
        except Exception, e:
            rospy.logerr('Proxy for subscribed topic %s init falied. Reason: %s', self.topic_name, str(e))