track.py 文件源码

def __init__(self):
        self.bridge = cv_bridge.CvBridge()
        cv2.namedWindow("input", 1)
        cv2.createTrackbar('param1', 'input', 10, 300, nothing)
        cv2.createTrackbar('param2', 'input', 15, 300, nothing)
        cv2.namedWindow("processed", 1)
        self.image_sb = rospy.Subscriber('/usb_cam/image_raw', Image, self.image_callback)

        self.motion = Twist()

        rate = rospy.Rate(20)

        # publish to cmd_vel of the jackal
        pub = rospy.Publisher("/jackal_velocity_controller/cmd_vel", Twist, queue_size=10)

        while not rospy.is_shutdown():
            # publish Twist
            pub.publish(self.motion)
            rate.sleep()