perception_base.py 文件源码

def save_to_memory(self, perception_name, data={}):
        if data == {}:
            rospy.logwarn('Empty data inserted...')
            return

        for item in data.keys():
            if not item in self.conf_data[perception_name]['data'].keys():
                rospy.logwarn('[%s -- wrong data inserted [%s]...'%(perception_name, item))
                return

        srv_req = WriteDataRequest()
        srv_req.perception_name = perception_name
        srv_req.data = json.dumps(data)
        srv_req.by = rospy.get_name()

        target_memory = self.conf_data[perception_name]['target_memory']

        try:
            rospy.wait_for_service('/%s/write_data'%target_memory)
            self.dict_srv_wr[target_memory](srv_req)
        except rospy.ServiceException as e:
            pass