switch.py 文件源码

def start_switch(self):
        FunctionUnit.init_node(self)
        #print 'run'
        if not(self._topic_1 == None):
            receive_1 = FunctionUnit.create_receive(self, self._topic_1, self._msg_type_1, self.receive_cb_1)
        if not(self._topic_2 == None):
            receive_2 = FunctionUnit.create_receive(self, self._topic_2, self._msg_type_2, self.receive_cb_2)
        receive_3 = FunctionUnit.create_receive(self, self._motive_topic_1, Bool, self.motivational_shared_var_update)
        FunctionUnit.spin(self)