map_visualizer.py 文件源码

def __init__(self):
    self.bridge = CvBridge()
    self.x = 0.0
    self.y = 0.0
    self.ang = 0.0
    self.pos_sub = rospy.Subscriber("/slam_out_pose", PoseStamped, self.pos_callback)
    self.image_sub = rospy.Subscriber("/map_image/full",Image,self.img_callback)