def main():
msg = msg_lane()
sign = msg_sign()
angle = None
lanepub=rospy.Publisher('/lane_msg', msg, queue_size=1)
if sign.sign == "RIGHT SIGN":
x1_ye = msg.x1_ye
y1_ye = msg.y1_ye
x2_ye = msg.x2_ye
y2_ye = msg.y2_ye
angle = np.arctan2((y1 - y2) , (x1 - x2)) * (180/np.pi)
if sign.sign == "LEFT SIGN":
x1_wh = msg.x1_wh
y1_wh = msg.y1_wh
x2_wh = msg.x2_wh
y2_wh = msg.y2_wh
angle = np.arctan2((y1 - y2) , (x1 - x2)) * (180/np.pi)
if sign.sign == "DONT GO":
if sign_1 == "RIGHT SIGN":
angle = np.arctan2((y1 - y2) , (x1 - x2)) * (180/np.pi)
msg.angle = angle
if sign_1 == "LEFT SIGN":
angle = np.arctan2((y1 - y2) , (x1 - x2)) * (180/np.pi)
def __init__(self):
self.bridge = CvBridge()
self.angle_msg = msg_lane()
self.line = []
self.line_detect = False
self.right_lane_mode = False
self.left_lane_mode = False
self.lane_mode = False
self.angle = 0
self.vanishing_x = 0
self.vanishing_y = 0
self.pub_lane = rospy.Publisher('/lane_msg', msg_lane, queue_size=1)
self.sub_sign = rospy.Subscriber('/sign_msg', msg_sign, self.signmsg)
def __init__(self):
#self.velocity_publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=1)
self.img_pub = rospy.Publisher('/image_center', Image, queue_size=1)
#self.modesub = rospy.Subscriber('/mode_msg',mode_msg, self.modemsg)
#self.twistpub = rospy.Publisher('/mode_twist', twist, queue_size=10)
self.lanepub = rospy.Publisher('/lane_msg', msg_lane, queue_size=1)
self.lanemsg = msg_lane()
self.lsd = cv2.createLineSegmentDetector(0)
#self.vel_msg = twist()
self.cap = None
self.frame = None
self.hsv = None
def __init__(self):
self.x1_ye = None
self.x2_ye = None
self.y1_ye = None
self.y2_ye = None
self.x1_wh = None
self.x2_wh = None
self.y1_wh = None
self.y2_wh = None
self.angle = None
self.lane_pub = rospy.Publisher("/lane_msg", msg_lane, queue_size=1)
self.lane = msg_lane()
self.sign_sub = rospy.Subscriber("/sign_msg", msg_sign,
self.callback_sign)
self.sign = None
self.lane_sub = rospy.Subscriber("/lane_msg", msg_lane,
self.callback_lane)
def __init__(self):
self.bridge = CvBridge()
self.angle_mag = msg_lane()
self.line = []
self.line_md = []
self.ye_pose = []
self.wh_pose = []
self.wh_true = False
self.ye_true = False
self.lane_mode = False
self.x1_ye = None
self.x2_ye = None
self.y1_ye = None
self.y2_ye = None
self.x1_wh = None
self.x2_wh = None
self.y1_wh = None
self.y2_wh = None
self.pub_lane = rospy.Publisher('/lane_msg', msg_lane, queue_size=1)
def __init__(self):
self.lanepub = rospy.Publisher('/lane_msg', msg_lane, queue_size=1)
self.signsub = rospy.Subscriber('/sign_msg',msg_sign, self.signmsg)
self.lanemsg = msg_lane()
self.sign = None
self.img_sub = rospy.Subscriber('/image_raw_right', Image,self.img_msg)
key = ''
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
if __name__ == "__main__":
settings = termios.tcgetattr(sys.stdin)
rospy.init_node('test_pub')
pub = rospy.Publisher('/lane_msg', msg_lane, queue_size=10)
pub_det = rospy.Publisher('/det_msg', msg_detect, queue_size=10)
pub_start = rospy.Publisher('/start', start, queue_size=10)
signpub = rospy.Publisher('/sign_msg_l', msg_sign_l, queue_size=10)
lane = msg_lane()
sign_msg_l = msg_sign_l()
det = msg_detect()
starting = start()
try:
while (1):
key = getKey()
if key == 'q':
lane.yellow = True
lane.white = True
print("q")
elif key == 'w':
lane.yellow = False
lane.white = False