drive_model.py 文件源码

def __init__(self):

      """ROS Subscriptions """
      self.image_sub = rospy.Subscriber("/raspicam_node/image/image_raw",Image,self.cvt_image) 
      self.image_pub = rospy.Publisher("/image_converter/output_video",Image, queue_size=10)
      self.cmdVel_pub = rospy.Publisher("/platform_control/cmd_vel", Twist, queue_size=10)
      self.cmdVelStamped_pub = rospy.Publisher('/platform_control/cmd_vel_stamped', TwistStamped, queue_size=10)

      """ Variables """
      self.model_path = 'home/wil/ros/catkin_ws/src/diy_driverless_car_ROS/rover_ml/behavior_cloning/src/behavior_cloning/model.h5'
      self.cmdvel = Twist()
      self.baseVelocity = TwistStamped()
      self.bridge = CvBridge()
      self.latestImage = None
      self.outputImage = None
      self.resized_image = None
      self.imgRcvd = False