Planner.py 文件源码

def listenerDomainNameProblem(self):
        '''
        listen on the topic domain_problem_from_controller_topic
        It get a String msg structured like [problemDirectory__problemName]
        The callback function is resolvProblemAsTopic which take the data received in parameter
        :param: void
    :return: void
        '''
        rospy.Subscriber("domain_problem_from_controller_topic",
                         String, self.resolvProblemAsTopic)
        print(">> Ready to be requested, waiting a std_msgs/String...")
        print(">> Topic : /domain_problem_from_controller_topic...")
        print(">> Callback : resolvProblemAsTopic...")
        print("############################"
              + "######################################")
        rospy.spin()