head.py 文件源码

def __init__(self):
        """
        Constructor.
        """
        self._state = dict()

        self._pub_pan = rospy.Publisher(
            '/robot/head/command_head_pan',
            HeadPanCommand,
            queue_size=10)

        state_topic = '/robot/head/head_state'
        self._sub_state = rospy.Subscriber(
            state_topic,
            HeadState,
            self._on_head_state)

        self._tf_listener = tf.TransformListener()

        intera_dataflow.wait_for(
            lambda: len(self._state) != 0,
            timeout=5.0,
            timeout_msg=("Failed to get current head state from %s" %
                         (state_topic,)),
        )