uarm_core.py 文件源码

def listener():
    print ' '
    print 'Begin monitor mode - listening to all fucntional topics'
    print '======================================================='
    print '         Use rqt_graph to check the connection         '
    print '======================================================='

    rospy.init_node('uarm_core',anonymous=True)

    rospy.Subscriber("uarm_status",String, attchCallback)
    rospy.Subscriber("pump_control",UInt8, pumpCallack)
    rospy.Subscriber("pump_str_control",String, pumpStrCallack)

    rospy.Subscriber("read_coords",Int32, currentCoordsCallback)
    rospy.Subscriber("read_angles",Int32, readAnglesCallback)
    rospy.Subscriber("stopper_status",Int32, stopperStatusCallback)

    rospy.Subscriber("write_angles",Angles, writeAnglesCallback)
    rospy.Subscriber("move_to",Coords, moveToCallback)
    rospy.Subscriber("move_to_time",CoordsWithTime, moveToTimeCallback)
    rospy.Subscriber("move_to_time_s4",CoordsWithTS4, moveToTimeAndS4Callback)

    rospy.spin()
    pass


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