follower.py 文件源码

def __init__(self):
    self.bridge = cv_bridge.CvBridge()
    cv2.namedWindow("window", 1)
    self.image_sub = rospy.Subscriber('camera/rgb/image_raw', 
                                      Image, self.image_callback)
    self.cmd_vel_pub = rospy.Publisher('cmd_vel_mux/input/teleop',
                                       Twist, queue_size=1)
    self.twist = Twist()