proxy.py 文件源码

def run(self):
        self.service_type, self.service_args = wait_service_ready(self.service_name, self.url)
        if not self.service_type:
            rospy.logerr('Type of service %s are not equal in the remote and local sides', self.service_type)
            return

        service_type_module, service_type_name = tuple(self.service_type.split('/'))
        try:       
            roslib.load_manifest(service_type_module)
            msg_module = import_module(service_type_module + '.srv')
            self.srvtype = getattr(msg_module, service_type_name)

            if self.test:
                self.caller = rospy.Service(self.service_name + '_rb', self.srvtype, self.callback)#, self.queue_size)
            else: 
                self.caller = rospy.Service(self.service_name, self.srvtype, self.callback)#, 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 calling service %s successfully', self.url, self.service_name)
            self.ws.run_forever()
        except ResourceNotFound, e:
            rospy.logerr('Proxy for service %s init falied. Reason: Could not find the required resource: %s', self.service_name, str(e))
        except Exception, e:
            rospy.logerr('Proxy for service %s init falied. Reason: %s', self.service_name, str(e))