def __init__(self):
self.action_server = MultiGoalActionServer('expression',
ExpressionAction,
auto_start=False)
self.action_server.register_goal_callback(self.goal_callback)
self.motor_pub = rospy.Publisher('pololu/command',
MotorCommand,
queue_size=10)
self.motor_range_srv = rospy.ServiceProxy('pololu/motor_range',
MotorRange)
self.rate = rospy.Rate(10)
def __init__(self, node_name):
self.action_server = MultiGoalActionServer(node_name, TimerAction, auto_start=False)
self.action_server.register_goal_callback(self.goal_callback)
self.action_server.register_preempt_callback(self.preempt_callback)
self.timers = {}
self.timers_lock = threading.RLock()