simulate_state.py 文件源码

def __init__(self, width, height):
        self.width = width
        self.height = height
        self.image = None
        self.image_y = None
        self.camera_sub = rospy.Subscriber("/camera/image_raw/compressed", CompressedImage,
                                           callback=self.callback_camera, queue_size=1)
        self.camera_sub_y = rospy.Subscriber("/camera_y/image_raw/compressed", CompressedImage,
                                             callback=self.callback_camera_y, queue_size=1)