grasp_generator_cube.py 文件源码

def __init__(self):
        self.listen = tf.TransformListener()
        self.broadcast = tf.TransformBroadcaster()

        self.obj_pose_sub = rospy.Subscriber("/pick_frame_name", String,
                                          self.set_pick_frame,
                                          queue_size=1)

        self.obj_pose_sub = rospy.Subscriber("/place_frame_name", String,
                                          self.set_place_frame,
                                          queue_size=1)

        self.obj_pose_sub = rospy.Subscriber("/num_objects", Int64,
                                  self.broadcast_frames,
                                  queue_size=1)

        self.place_frame = ''
        self.pick_frame = ''
        self.tower_size = 1
        self.tower_size_sub = rospy.Subscriber("/tower_size",Int64,self.set_tower_size)