passthrough_node.py 文件源码

def __init__(self, config):
        host = unrealcv.HOST
        port = unrealcv.PORT

        if 'endpoint' in config:
            host, port = config['endpoint']
        if 'port' in config:
            port = config['port']
        if 'hostname' in config:
            host = config['hostname']

        self.opencv_bridge = cv_bridge.CvBridge()

        self._client_lock = threading.Lock()
        self._client = unrealcv.Client(endpoint=(host, port))
        self._client.connect()
        if not self._client.isconnected():
            raise RuntimeError("Could not connect to unrealcv simulator, is it running?")

        # Store the declare services
        self._services = []