def __init__(self, topic_name, msg_type=None, queue_size=None, postprocessor=None):
super(RosTopicSubscriber, self).__init__(topic_name=topic_name,
msg_type=std_msgs.String if msg_type is None else msg_type,
queue_size=1 if queue_size is None else queue_size,
postprocessor=postprocessor)
if postprocessor is None:
if self.msg_type is std_msgs.String:
def default_postprocessor(msg):
return MsgUtils.deserialize(RosMsgUtils.unwrap(msg, 'data'))
self.postprocessor = default_postprocessor
self._subscriber = rospy.Subscriber(name=self.topic_name,
data_class=self.msg_type,
callback=self._subscribe,
callback_args=None,
queue_size=self.queue_size)
__init__.py 文件源码
python
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