perception.py 文件源码

def __init__(self):
        super(PerceptionNode, self).__init__('p_node')

        self.transition_table = {
            # If calibration has already happened, allow skipping it
            'initial': {'q': self._perceive},
            'perceive': {'q': self._post_perceive},
            }

        # Hardcoded place for now
        self.tl = tf.TransformListener()
        self.num_objects = 0
        # Would this work too? Both tf and tf2 have (c) 2008...
        # self.tf2 = tf2_ros.TransformListener()
        self.n_objects_sub = rospy.Subscriber("/num_objects", Int64,
                                              self.update_num_objects,
                                              queue_size=1)
        self.perception_pub = rospy.Publisher("/perception/enabled",
                                              Bool,
                                              queue_size=1)

        self.br = tf.TransformBroadcaster()

        # Dict to map imarker names and their updated poses
        self.int_markers = {}

        # Ideally this call would be in a Factory/Metaclass/Parent
        self.show_options()