import org.ros.exception.RosRuntimeException; //导入依赖的package包/类
/**
 * Private blocking method to start a Ros Master.
 * @param isPrivate
 */
private void startMasterBlocking(boolean isPrivate) {
  if (isPrivate) {
    rosCore = RosCore.newPrivate();
  } else if (rosHostname != null) {
    rosCore = RosCore.newPublic(rosHostname, 11311);
  } else {
    rosCore = RosCore.newPublic(11311);
  }
  rosCore.start();
  try {
    rosCore.awaitStart();
  } catch (Exception e) {
    throw new RosRuntimeException(e);
  }
  masterUri = rosCore.getUri();
}
 

import org.ros.exception.RosRuntimeException; //导入依赖的package包/类
@Override
public void surfaceCreated(SurfaceHolder holder) {
  try {
    if (camera != null) {
      camera.setPreviewDisplay(holder);
    }
  } catch (IOException e) {
    throw new RosRuntimeException(e);
  }
}
 

import org.ros.exception.RosRuntimeException; //导入依赖的package包/类
public void setCamera(Camera camera) {
  Preconditions.checkNotNull(camera);
  this.camera = camera;
  setupCameraParameters();
  setupBufferingPreviewCallback();
  camera.startPreview();
  try {
    // This may have no effect if the SurfaceHolder is not yet created.
    camera.setPreviewDisplay(surfaceHolder);
  } catch (IOException e) {
    throw new RosRuntimeException(e);
  }
}
 

import org.ros.exception.RosRuntimeException; //导入依赖的package包/类
@Override
public void onStart(ConnectedNode connectedNode) {
    super.onStart(connectedNode);


    try {
        serviceClient = connectedNode.newServiceClient("faster_rcnn", tms_ss_rcnn.obj_detection._TYPE);
    } catch (ServiceNotFoundException e) {
        throw new RosRuntimeException(e);
    }

    mConnectedNode = connectedNode;
}
 

import org.ros.exception.RosRuntimeException; //导入依赖的package包/类
private URI getMasterUri() {
  URI uri = NodeConfiguration.DEFAULT_MASTER_URI;

  try {
    if (this.specialRemappings.containsKey("__master")) {
      uri = new URI(this.specialRemappings.get("__master"));
    } else if (this.environment.containsKey("ROS_MASTER_URI")) {
      uri = new URI(this.environment.get("ROS_MASTER_URI"));
    }

    return uri;
  } catch (URISyntaxException var3) {
    throw new RosRuntimeException("Invalid master URI: " + uri, var3);
  }
}