action_handler.py 文件源码

def main():
    rospy.init_node("actions")
    loginfo("Creating action handler...")
    action_handler = ActionHandler()
    loginfo("Registering services...")

    get_service_handler(CallFunction).register_service(
        lambda func_name, kwargs: action_handler.call_func(func_name, **json.loads(kwargs))
    )
    rospy.Subscriber("/aide/update_apis", String, lambda x: action_handler.reload_api_references(x.data))

    get_service_handler(GetActionProvider).register_service(lambda name: action_handler.get_action_provider(name) or ())
    get_service_handler(GetAllActionProviders).register_service(action_handler.get_all_action_providers)
    get_service_handler(AddActionProvider).register_service(action_handler.add_action_provider)
    get_service_handler(DeleteActionProvider).register_service(action_handler.remove_action_provider)

    loginfo("Registered services. Spinning.")

    rospy.spin()