smp_thread.py 文件源码

def pub_sub_local_legacy(self):
        self.pub["motor"]         = rospy.Publisher("/motor", Float32MultiArray)
        # learning signals
        # FIXME: change these names to /learner/...
        self.pub["learn_dw"]         = rospy.Publisher("/learner/dw", Float32MultiArray)
        self.pub["learn_w"]          = rospy.Publisher("/learner/w", Float32MultiArray)
        self.pub["learn_perf"]    = rospy.Publisher("/learner/perf", reservoir)
        self.pub["learn_perf_lp"] = rospy.Publisher("/learner/perf_lp", reservoir)
        # learning control
        self.sub["ctrl_eta"]      = rospy.Subscriber("/learner/ctrl/eta", Float32, self.sub_cb_ctrl)
        self.sub["ctrl_theta"]      = rospy.Subscriber("/learner/ctrl/theta", Float32, self.sub_cb_ctrl)
        self.sub["ctrl_target"]   = rospy.Subscriber("/learner/ctrl/target", Float32, self.sub_cb_ctrl)
        # state
        self.pub["learn_x_raw"]   = rospy.Publisher("/learner/x_raw", reservoir)
        self.pub["learn_x"]       = rospy.Publisher("/learner/x", reservoir)
        self.pub["learn_r"]       = rospy.Publisher("/learner/r", reservoir)
        self.pub["learn_y"]       = rospy.Publisher("/learner/y", reservoir)