grader.py 文件源码

def __init__(self, server):
        self.server = server

        self.mutex = Lock()

        # Publisher to send commands
        self.pub_command = rospy.Publisher("/motion_planning_goal", geometry_msgs.msg.Transform, 
                                           queue_size=1)        
        self.listener = tf.TransformListener()

        # Subscribes to information about what the current joint values are.
        rospy.Subscriber("/joint_states", sensor_msgs.msg.JointState, 
                         self.joint_states_callback)

        # Publisher to set robot position
        self.pub_reset = rospy.Publisher("/joint_command", JointState, queue_size=1)
        rospy.sleep(0.5)

        # Wait for validity check service
        rospy.wait_for_service("check_state_validity")
        self.state_valid_service = rospy.ServiceProxy('check_state_validity',  
                                                      moveit_msgs.srv.GetStateValidity)

        self.reset_robot()