detector.py 文件源码

def __init__(self):

        self.detector = Detector()
        self.sub_image = rospy.Subscriber("/camera/rgb/image_rect_color", Image, self.processImage, queue_size=1)
        self.pub_image = rospy.Publisher("detection_image", Image, queue_size=1)
        self.bridge = CvBridge()

        rospy.loginfo("Object Detector Initialized.")

        self.drive_cmd = {'steer': 0, 'speed': 0}

        self.pub_detection = rospy.Publisher("object_detection",\
                Detection, queue_size=1)

        #self.pub = rospy.Publisher("/vesc/ackermann_cmd_mux/input/navigation",\
        #        AckermannDriveStamped, queue_size =1 )
        #self.thread = Thread(target=self.drive)
        #self.thread.start()
        rospy.loginfo("Detector initialized")