simulate_state.py 文件源码

def __init__(self):
        self.joint_state = JointState()
        self.arm_map = dict()
        self.joint_pub = rospy.Publisher("/as_arm/set_joints_states", JointState, queue_size=1)
        self.pose_sub = rospy.Subscriber("/as_arm/joint_states", JointState, callback=self.callback_joint, queue_size=1)
        # end effector service
        self.check_collision_client = rospy.ServiceProxy('/check_collision', CheckCollisionValid)
        self.tf_listener = tf.TransformListener()