tlight_node.py 文件源码

def __init__(self, get_model_callback, model_callback):
        rospy.init_node('tlight_model')
        self.model = get_model_callback()
        self.get_model = get_model_callback
        self.predict = model_callback
        self.bridge = CvBridge()
        self.boxes = None
        self.img =  None
        self.img_out = None
        self.image_lock = threading.RLock()
        #self.sub = rospy.Subscriber('/left_camera/image_color/compressed', CompressedImage, self.updateImage) # Use for CompressedImage topic
        self.sub = rospy.Subscriber('/image_raw', Image, self.updateImage, queue_size=1)
        self.pub = rospy.Publisher('/out_image', Image, queue_size=1)
        rospy.Timer(rospy.Duration(0.04), self.callbackImage)