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()