tracker.py 文件源码

def startlistening(self):
        rospy.init_node('tracker', anonymous=True)
        rospy.Subscriber('/image_raw', Image, self.handle_image_msg) # for frame number
        rospy.Subscriber('/velodyne_points', PointCloud2, self.handle_lidar_msg) # for timing data
        rospy.Subscriber("/bbox", MarkerArray, self.handle_bbox_msg)
        print 'tracker node initialzed'
        rospy.spin()