services.py 文件源码

def __init__(self):
        self.services = {'set_iteration': {'name': 'learning/set_iteration', 'type': SetIteration},
                         'set_focus': {'name': 'learning/set_interest', 'type': SetFocus},
                         'assess': {'name': 'controller/assess', 'type': Assess},
                         'get_interests': {'name': 'learning/get_interests', 'type': GetInterests}}

        rospy.Subscriber('learning/current_focus', String, self._cb_focus)
        rospy.Subscriber('learning/user_focus', String, self._cb_user_focus)
        rospy.Subscriber('learning/ready_for_interaction', Bool, self._cb_ready)

        self.current_focus = ""
        self.user_focus = ""
        self.ready_for_interaction = False

        for service_name, service in self.services.items():
            rospy.loginfo("User node is waiting service {}...".format(service['name']))
            rospy.wait_for_service(service['name'])
            service['call'] = rospy.ServiceProxy(service['name'], service['type'])

        rospy.loginfo("User node started!")