def add_transform(self, target, source, cb, wait=False):
     """
     If wait is true, this function may block until the action client
     has connected.
     """
     target = TLC.sanitize_frame(target)
     source = TLC.sanitize_frame(source)
     key = TLC.key_from_transform(target, source)
     if key in self.transforms:
         if rospy.get_time() - self.last_update < 1.0:
             return
     self.transforms[key] = {'cb': cb, 'sub': TLM.Subscription(target, source)}
     self.last_update = rospy.get_time()
     self._update_transforms(wait=wait)
Exemplo n.º 2
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 def query_transform(self, target, source, cb):
     target = TLC.sanitize_frame(target)
     source = TLC.sanitize_frame(source)
     key = TLC.key_from_transform(target, source)
     if key in self.cbs:
         if rospy.get_time() - self.ts[key] < 1.0:
             return
     self.cbs[key] = cb
     self.ts[key] = rospy.get_time()
     goal = TLM.TfLookupGoal(target, source, rospy.Time(0.0))
     try:
         self.ghs.append(self.al_client.send_goal(goal, transition_cb=self._al_cb))
     except rospy.ROSException as e:
         rospy.logfatal("Failed to send goal: %s", e.message)
 def query_transform(self, target, source, cb):
     target = TLC.sanitize_frame(target)
     source = TLC.sanitize_frame(source)
     key = TLC.key_from_transform(target, source)
     if key in self.cbs:
         if rospy.get_time() - self.ts[key] < 1.0:
             return
     self.cbs[key] = cb
     self.ts[key] = rospy.get_time()
     goal = TLM.TfLookupGoal(target, source, rospy.Time(0.0))
     try:
         self.ghs.append(
             self.al_client.send_goal(goal, transition_cb=self._al_cb))
     except rospy.ROSException as e:
         rospy.logfatal("Failed to send goal: %s", e.message)