marker_control.py 文件源码

def timer_callback(self, event):
        if self.ee_tracking:
            msg = JointState()
            self.mutex.acquire()
            msg = convert_to_trans_message(self.x_target)
            self.pub_command.publish(msg)
            self.mutex.release()
        if self.red_tracking:
            red = Float32()
            self.mutex.acquire()
            red.data = self.q0_desired
            self.pub_red.publish(red)
            self.mutex.release()