def __init__(self):
#init
self.angle = None #float
self.bar = False
self.traffic_light = False
self.lane_yellow = False
self.lane_white = False
self.laser_bool = False
self.signr = None
self.signl = None
#subscriber
#self.startsub = rospy.Subscriber('/start',start,self.starting)
self.lanesub = rospy.Subscriber('/lane_msg', msg_lane, self.lanemsg)
self.lasersub = rospy.Subscriber('/msg_laser', msg_laser,
self.lasermsg)
self.detectsub = rospy.Subscriber('/det_msg', msg_detect,
self.detectmsg)
self.detectsub = rospy.Subscriber('/traffic_msg', msg_traffic,
self.trafficmsg)
self.signsubl = rospy.Subscriber('/sign_msg_l', msg_sign_l,
self.signmsgl)
self.signsubr = rospy.Subscriber('/sign_msg_r', msg_sign_r,
self.signmsgr)
#publshing
self.mode = mode_msg()
self.vel_tw = twist()
self.modepub = rospy.Publisher('/mode_msg', mode_msg, queue_size=10)
self.twistpub = rospy.Publisher('/mode_twist', twist, queue_size=10)
self.sign_numr = None
self.sign_numl = None
self.sign_numr2 = None
self.sign_numl2 = None
def __init__(self):
self.twistpub = rospy.Publisher('/mode_twist', twist, queue_size=10)
self.modesub = rospy.Subscriber('/mode_msg', mode_msg, self.modemsg)
self.vel_tw = twist()
self.mode = None
self.cnt = None
self.co = None
def __init__(self):
self.lanesub = rospy.Subscriber('/lane_msg', msg_lane, self.lanemsg)
self.modesub = rospy.Subscriber('/mode_msg', mode_msg, self.modemsg)
self.twistpub = rospy.Publisher('/mode_twist', twist, queue_size=10)
self.vel_msg = twist()
self.mode = None
self.lane_yellow = None
self.lane_white = None
self.count = 0
def __init__(self):
self.mode = None
self.a = 0
self.vel_tw = twist()
self.lasermsg = msg_laser()
self.avg = 0
self.sum_r = 0
self.sum_l = 0
self.count_r = 0
self.count_l = 0
self.twistpub = rospy.Publisher("/mode_twist", twist, queue_size=10)
self.laserpub = rospy.Publisher('/msg_laser', msg_laser, queue_size=10)
self.modesub = rospy.Subscriber('/mode_msg', mode_msg, self.modemsg)
self.mode_sub = None
self.cnt_sub = None
def __init__(self):
self.vel_tw = twist()
self.twistpub = rospy.Publisher('/mode_twist', twist, queue_size=10)
self.modesub = rospy.Subscriber('/mode_msg', mode_msg, self.modemsg)
self.lasersub = rospy.Subscriber("/scan", LaserScan, self.callback)
self.pubpark = rospy.Publisher('/parkend', msg_park, queue_size=10)
#self.sub = rospy.Subscriber('delay_pub',Bool,self.bool)
#self.pub = rospy.Publisher('delay_sub',Int32,queue_size =1)
self.park_end = msg_park()
self.park_end.park = 0
#self.delay = Int32()
self.mode = None
self.cnt = None
self.laser_range = []
self.avg = 0
self.sum_r = 0
self.count_r = 0
self.lane = lanemove.test()
#self.delay.data = 0
self.count = 0
self.bool = False
