needybot_blackboard.py 文件源码

def publish(self, publisher_name):
        if self.publishers.get(publisher_name) == None:
            self.publishers[publisher_name] = rospy.Publisher(
                '/needybot/blackboard/{}'.format(publisher_name),
                ros_msg.Empty,
                queue_size=1
            )
            rospy.sleep(0.1)

        self.publishers[publisher_name].publish(ros_msg.Empty())