lane_detection_node.py 文件源码

def __init__(self, node_name, sub_topic, sub_base_throttle_topic, pub_topic, pub_setpoint_topic, pub_state_topic, pub_throttle_topic, reset_service):
        self.bridge = CvBridge()
        self.img_prep = ImagePreparator()
        self.ipm = InversePerspectiveMapping()

        # Publisher
        self.image_pub = rospy.Publisher(pub_topic, Image, queue_size=QUEUE_SIZE)
        self.setpoint_pub = rospy.Publisher(pub_setpoint_topic, Float64, queue_size=QUEUE_SIZE)
        self.state_pub = rospy.Publisher(pub_state_topic, Float64, queue_size=QUEUE_SIZE)
        self.throttle_pub = rospy.Publisher(pub_throttle_topic, Float64, queue_size=QUEUE_SIZE)

        self.reset_srv = rospy.Service(reset_service, Empty, self.reset_callback)
        self.reset_tracking = False

        rospy.init_node(node_name, anonymous=True)

        self.image_sub = rospy.Subscriber(sub_topic, Image, self.callback)
        self.base_throttle_sub = rospy.Subscriber(sub_base_throttle_topic, Float64, self.callbackBaseThrottle)

        # Base Throttle
        self.base_throttle = rospy.get_param("/autonomous_driving/lane_detection_node/base_throttle", 0.6)

        # Crop Parameters
        self.above_value = rospy.get_param("/autonomous_driving/lane_detection_node/above", 0.58)
        self.below_value = rospy.get_param("/autonomous_driving/lane_detection_node/below", 0.1)
        self.side_value = rospy.get_param("/autonomous_driving/lane_detection_node/side", 0.3)

        # Lane Tracking Parameters
        self.deviation = rospy.get_param("/autonomous_driving/lane_detection_node/deviation", 5)
        self.border = rospy.get_param("/autonomous_driving/lane_detection_node/border", 0)

        # Canny Parameters
        self.threshold_low = rospy.get_param("/autonomous_driving/lane_detection_node/threshold_low", 50)
        self.threshold_high = rospy.get_param("/autonomous_driving/lane_detection_node/threshold_high", 150)
        self.aperture = rospy.get_param("/autonomous_driving/lane_detection_node/aperture", 3)

        # Lane Tracking
        self.init_lanemodel()

        rospy.spin()