environment.py 文件源码

def __init__(self):
        # Load parameters and hack the tuple conversions so that OpenCV is happy
        self.rospack = RosPack()
        with open(join(self.rospack.get_path('apex_playground'), 'config', 'environment.json')) as f:
            self.params = json.load(f)
        self.params['tracking']['ball']['lower'] = tuple(self.params['tracking']['ball']['lower'])
        self.params['tracking']['ball']['upper'] = tuple(self.params['tracking']['ball']['upper'])
        self.params['tracking']['arena']['lower'] = tuple(self.params['tracking']['arena']['lower'])
        self.params['tracking']['arena']['upper'] = tuple(self.params['tracking']['arena']['upper'])

        self.tracking = BallTracking(self.params)
        self.conversions = EnvironmentConversions()
        self.ball_pub = rospy.Publisher('environment/ball', CircularState, queue_size=1)
        self.light_pub = rospy.Publisher('environment/light', UInt8, queue_size=1)
        self.image_pub = rospy.Publisher('environment/image', Float32MultiArray, queue_size=1)
        self.sound_pub = rospy.Publisher('environment/sound', Float32, queue_size=1)
        self.rate = rospy.Rate(self.params['rate'])