object_detection_node.py 文件源码

def __init__(self, sub_topic, pub_steering_topic, pub_throttle_topic):
        self.bridge = CvBridge()
        self.base_throttle = rospy.get_param("/autonomous_driving/object_detection_node/base_throttle", DEFAULT_BASE_THROTTLE)
        self.b_calc_steering = rospy.get_param("/autonomous_driving/object_detection_node/b_calc_steering", DEFAULT_B_CALC_STEERING)
        self.debug_flag = rospy.get_param("/autonomous_driving/object_detection_node/debug_flag", DEBUG_FLAG)
        self.image_sub = rospy.Subscriber(sub_topic, Image, self.callback)
        self.steering_pub = rospy.Publisher(pub_steering_topic, Float64, queue_size=1)
        self.throttle_pub = rospy.Publisher(pub_throttle_topic, Float64, queue_size=1)
        self.roadmask = None
        rospy.spin()