simple_limb.py 文件源码

def getPose(self):
        p=self.endpoint_pose()
        if len(p.keys())==0:
            rospy.logerr("ERROR: Pose is empty, you may want to wait a bit before calling getPose to populate data")
            return None
        pose=Pose()        
        pose.position=Point(*p["position"])
        pose.orientation=Quaternion(*p["orientation"])
        return pose