pick_and_place.py 文件源码

def _publish_grasps(self, grasps):
        """
        Publish grasps as poses, using a PoseArray message
        """

        if self._grasps_pub.get_num_connections() > 0:
            msg = PoseArray()
            msg.header.frame_id = self._robot.get_planning_frame()
            msg.header.stamp = rospy.Time.now()

            for grasp in grasps:
                p = grasp.grasp_pose.pose

                msg.poses.append(Pose(p.position, p.orientation))

            self._grasps_pub.publish(msg)