test.py 文件源码

def _create_subscriber(self, topic_name):
        """
        Method that creates a subscriber to a sensor_msgs/Image topic
        :param topic_name: The topic_name
        """
        if self._sub:
            self._sub.unregister()
        self._sub = rospy.Subscriber(topic_name, Image, self._image_callback)
        rospy.loginfo("Listening to %s -- spinning .." % self._sub.name)
        self._widget.setWindowTitle("Test plugin, listening to (%s)" % self._sub.name)