jaco_signals.py 文件源码

def __init__(self):
        self.objectDet = [False] * 3
        self.sai_calibration = [None] * 3
        self.current_fingers_touch = [False]*3
        self.calibrate = False
        self.calibrate_vals = [deque(maxlen=100),deque(maxlen=100),deque(maxlen=100)]

        self.object_det_calibrated_pub = rospy.Publisher("/finger_sensor/obj_det_calibrated", Bool, queue_size=1)
        self.calibrate_obj_det_sub = rospy.Subscriber("/finger_sensor/calibrate_obj_det", Bool, self.set_calibrate)
        self.fai_sub = rospy.Subscriber("/finger_sensor/fai", FingerFAI, self.detect_touch)
        self.sai_sub = rospy.Subscriber("/finger_sensor/sai", FingerSAI, self.detect_object)
        self.object_det_pub = rospy.Publisher("/finger_sensor/obj_detected", FingerDetect, queue_size=1)
        self.touch_pub = rospy.Publisher("/finger_sensor/touch", FingerTouch, queue_size=1)