vision1.py 文件源码

def __init__(self):
        self.bridge = CvBridge() #allows us to convert our image to cv2

        self.zed_pub = rsp.Publisher("/image_echo", Image, queue_size = 1)
        self.imginfo_pub = rsp.Publisher("/exploring_challenge", img_info, queue_size = 1)

        self.zed_img = rsp.Subscriber("/camera/rgb/image_rect_color", Image, self.detect_img) #subscribes to the ZED camera image
        self.odom_sub = rsp.Subscriber("/vesc/odom", Odometry, self.odom_callback)

        self.last_arb_position = Point()
        self.gone_far_enough = True

        self.header = std_msgs.msg.Header()
        self.heightThresh = 75 #unit pixels MUST TWEAK
        self.odomThresh = 1 #unit meters
        self.blob_msg = img_info()

        rsp.init_node("vision_node")