def __init__(self):
self.start_time = 0
self.cur_time = 0
self.lastAngle = 0
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw', )
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.taxi_driver = TaxiDriver()
self.angle_threshold = 10 #minus abs of angle while steering
self.angle_is_go = 10 # < 2, go straight
self.angle_change_speed = 15 # angle > 5, change speed (lower)
self.curve_radius = 10000 #230
self.is_stop = False
self.lastObs = [-1, -1, -1]
self.obs_list_num = 5
self.obs_l_list = []
self.obs_m_list = []
self.obs_r_list = []
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.trafficlight = Trafficlight('/usb_cam/image_raw')
self.savedata = [0]
self.save_obs = 130
def __init__(self):
rospy.init_node('xycar_driver')
self.detector = Detector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
self.cnt = 0
self.hipass = False
self.tollgateMode = False
self.tollbar = False
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.value_filter = MovingAverage(5)
self.obs_filter = MovingAverage(5)
self.stop_time = None
def __init__(self):
self.start_time = time.time()
self.angle = 0
self.speed = 0
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
def __init__(self):
rospy.init_node('autodrive')
rospy.Subscriber('/signal', String, self.detect_signal)
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
self.end_time = -1
self.signal_time = 3
self.under_signal = "not"
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.left = 0
self.right = 640
self.angle = 0
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.imu = ImuRead('/diagnostics')
self.b_l = 0
self.b_r = 0
self.origin = False
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.imu = ImuRead('diagnostics')
self.before = [0, 0, 0]
self.before_sonic = 0
self.startTime = time.time()
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.slow_time = time.time()
self.prev_dis = 100
self.prev_l = []
self.prev_m = []
self.prev_r = []
self.MAX_SIZE = 3
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.imu = ImuRead('/diagnostics')
self.information = {
"speed": -1,
"signal": "",
"=>": "",
"pitch": -1,
"roll": -1,
"yaw": -1
}
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.traffic_light_detector = TrafficLightDetector('/usb_cam/image_raw')
self.vehicle_breaker_detector = VehicleBreakerDetector('/usb_cam/image_raw')
self.bus_stop_detector = BusStopDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
self.slow_time = time.time()
self.prev_dis = 100
self.prev_l = []
self.prev_m = []
self.prev_r = []
self.MAX_SIZE = 3
self.bus_stop_time = time.time()
self.bus_ignore_time = -1
self.bus_data = []
def __init__(self):
self.image_width = 640 # 이미지의 너비
rospy.init_node('xycar_driver')
self.driver = MotorDriver('/xycar_motor_msg')
self.cam_image = CamImage('/usb_cam/image_raw')
self.pub = rospy.Publisher('/remote_rec', Image, queue_size=1)
rospy.Subscriber('/remote_pub', Int32MultiArray, self.get_yolo_result)
rospy.Subscriber('/xycar_ad_controller/controller_msg', Int32MultiArray, self.get_controller_msg)
self.cont_pub = rospy.Publisher('/xycar_ad/controller_msg', Int32MultiArray, queue_size=1)
self.yolo_dat = None
self.x = 50
self.y = 50
self.dir = 0
self.dx = self.x
self.dy = self.y
self.shortest_path = SPF(100, 100)
def __init__(self):
rospy.init_node('xycar_driver')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.driver = MotorDriver('/xycar_motor_msg')
def __init__(self):
rospy.init_node('autodrive')
self.line_detector = LineDetector('/usb_cam/image_raw')
self.obstacle_detector = ObstacleDetector('/ultrasonic')
self.driver = MotorDriver('/xycar_motor_msg')
def __init__(self):
rospy.init_node('xycar_driver')
self.color_detector = ColorDetector('/usb_cam/image_raw')
#self.obstacle_detector = ObstacleDetector('/ultrasonic')
#self.color_detector = ColorDectector()
self.driver = MotorDriver('/xycar_motor_msg')