naoqi_camera.py 文件源码

def __init__(self, node_name='naoqi_camera'):
        NaoqiNode.__init__(self, node_name)

        self.camProxy = self.get_proxy("ALVideoDevice")
        if self.camProxy is None:
            exit(1)
        self.nameId = None
        self.camera_infos = {}
        def returnNone():
            return None
        self.config = defaultdict(returnNone)

        # ROS publishers
        self.pub_img_ = rospy.Publisher('~image_raw', Image, queue_size=5)
        self.pub_info_ = rospy.Publisher('~camera_info', CameraInfo, queue_size=5)

        # initialize the parameter server
        self.srv = Server(NaoqiCameraConfig, self.reconfigure)

        # initial load from param server
        self.init_config()

        # initially load configurations
        self.reconfigure(self.config, 0)