def __init__(self):
self.bridge = cv_bridge.CvBridge()
#cv2.namedWindow("window", 1)
self.pose_msg = Deu_pose()
self.pose_pub = rospy.Publisher('/right_pose', Deu_pose, queue_size=1)
self.image_sub = rospy.Subscriber(
'/front_right_camera/image_raw/compressed', CompressedImage,
self.image_callback)
def __init__(self):
self.bridge = cv_bridge.CvBridge()
self.pose_msg = Deu_pose()
self.pose_pub = rospy.Publisher('/line_pose',Deu_pose,queue_size = 1)
self.stabilizer_pub = rospy.Publisher('/tb3/control/stabilize',Bool,queue_size = 1)
self.image_sub = rospy.Subscriber('/python_image0/compressed', CompressedImage, self.image_callback)
#self.image_sub = rospy.Subscriber('/python_image0',Image, self.image_callback)
self.area = 3
self.stabilizer = True
if rospy.has_param('~area'):
rospy.logdebug('%s', rospy.get_param('~area'))
if rospy.get_param('~area') > 5:
pass
else:
self.area = rospy.get_param('~area')
def __init__(self):
self.pose_msg = Deu_pose()
self.xpose = 160
self.ypose = 160
self.control_state = False
self.nav_state = False
self.p_state = False
self.parking_white = False
self.timer = ElapsedTime()
self.twist = Twist()
self.control_sub = rospy.Subscriber('tb3/control/block',Bool, self.control_callback)
self.navmode_sub = rospy.Subscriber('tb3/control/navmode',Bool, self.navmode_callback)
self.parking_sub = rospy.Subscriber('tb3/control/parking',Bool, self.parking_callback)
self.parking_white_sub = rospy.Subscriber('/tb3/control/parking_white',Bool, self.parking_white_callback)
self.pose_sub = rospy.Subscriber('/line_pose',Deu_pose, self.pose_callback)
self.cmd_vel_pub = rospy.Publisher('/cmd_vel',Twist,queue_size = 1)