topic_connector.py 文件源码

def connect_topics(
    src_topic, dest_topic, src_topic_type, dest_topic_type, multiplier=1,
    deadband=0
):
    rospy.loginfo("Connecting topic {} to topic {}".format(
        src_topic, dest_topic
    ))
    pub = rospy.Publisher(dest_topic, dest_topic_type, queue_size=10)
    def callback(src_item):
        val = src_item.data
        val *= multiplier
        if dest_topic_type == Bool:
            val = (val > deadband)
        dest_item = dest_topic_type(val)
        pub.publish(dest_item)
    sub = rospy.Subscriber(src_topic, src_topic_type, callback)
    return sub, pub