action_database.py 文件源码

def __init__(self,object_list,perception_time=2.5):
        smach.State.__init__(self, outcomes=['objects_found', 'objects_not_found'],
                            output_keys=['pick_obj_name_out','place_obj_name_out'])

        self.perception_pub = rospy.Publisher("/perception/enabled",
                                              Bool,
                                              queue_size=1)

        self.listen = tf.TransformListener()
        self.perception_time = perception_time
        self.object_list = object_list