lane_tracking_node.py 文件源码

def __init__(self, node_name, sub_topic, pub_topic, pub_setpoint_topic, pub_state_topic, reset_service):
        self.bridge = CvBridge()
        self.init_lanemodel()
        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.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)

        rospy.spin()