__init__.py 文件源码

def __init__(self, topic_name, msg_type=None, queue_size=None, preprocessor=None):
        super(RosTopicPublisher, self).__init__(topic_name, msg_type, queue_size, preprocessor)

        self.msg_type = std_msgs.String if msg_type is None else msg_type
        self.queue_size = 10

        if preprocessor is None:
            if self.msg_type is std_msgs.String:
                def default_preprocessor(msg):
                    return MsgUtils.serialize(msg)

                self.preprocessor = default_preprocessor

        self._publisher = rospy.Publisher(name=self.topic_name,
                                          data_class=self.msg_type,
                                          queue_size=self.queue_size)