Python Self未定义问题

Question

我有以下Python类，即使我在引起错误的行之前使用它，也坚持未定义 self 。

错误：

File "/home/sisko/moveit_ws/src/ur5bot_moveit_config/nodes/test.py", line 35, in Test
end_effector_link = self.arm.get_end_effector_link()
NameError: name 'self' is not defined

代码：

#!/usr/bin/env python

import moveit_commander
import rospy
from copy import deepcopy

class Test():
  """docstring for Test"""
  def __init__(self):
    rospy.init_node('move_group_python_interface_tutorial', anonymous=False)

    # declarations
    self.robot = moveit_commander.RobotCommander()
    self.arm = moveit_commander.MoveGroupCommander('manipulator')

    joint_positions = [0.2 ,-0.5, 1.57, -1.0, -0.4, 0.5]
    self.arm.set_joint_value_target(joint_positions)
    self.arm.go()

    rospy.sleep(5)

    self.arm.set_named_target('up')
    self.arm.go()

    rospy.sleep(5)

    self.arm.set_named_target('home')
    self.arm.go()


    # Get the name of the end-effector link
    end_effector_link = self.arm.get_end_effector_link()

if __name__ == '__main__':
  t = Test()