base.py 文件源码

def task_name(self, val):
        self._task_name = val
        self.failure_pub = rospy.Publisher(
            '/needybot/{}/step/failure'.format(self._task_name),
            ros_msg.Empty,
            queue_size=1
        )
        self.success_pub = rospy.Publisher(
            '/needybot/{}/step/success'.format(self._task_name),
            ros_msg.Empty,
            queue_size=1
        )