优化主程序异常处理，添加资源清理逻辑；在图像处理器中引入多线程支持，改进图像订阅的运行机制。

main.py

@@ -37,11 +37,15 @@ def main():
         time.sleep(100)
 
     except KeyboardInterrupt:
-        pass
+        print("\n程序被用户中断")
-
+    except Exception as e:
-    Ctrl.quit()
+        print(f"发生错误: {e}")
-    image_processor.destroy()
+    finally:
-    sys.exit()
+        print("正在清理资源...")
+        Ctrl.quit()
+        image_processor.destroy()
+        print("程序已退出")
+        sys.exit()
 
 
 class Robot_Ctrl(object):

utils/image_raw.py

@@ -7,6 +7,7 @@ from cv_bridge import CvBridge
 import cv2
 from rclpy.qos import QoSProfile, QoSReliabilityPolicy, QoSHistoryPolicy
 from qreader import QReader
+from threading import Thread
 
 
 class ImageSubscriber(Node):
@@ -43,14 +44,24 @@ class ImageProcessor:
         rclpy.init()
         self.image_subscriber = ImageSubscriber()
         self.qreader = QReader()
+        self.spin_thread = None
+        self.running = True
     
     def run(self):
+        self.spin_thread = Thread(target=self._spin)
+        self.spin_thread.start()
+    
+    def _spin(self):
         try:
-            rclpy.spin(self.image_subscriber)
+            while self.running:
-        except KeyboardInterrupt:
+                rclpy.spin_once(self.image_subscriber, timeout_sec=0.1)
-            pass
+        except Exception as e:
+            print(f"Spin thread error: {e}")
     
     def destroy(self):
+        self.running = False
+        if self.spin_thread:
+            self.spin_thread.join()
         self.image_subscriber.destroy_node()
         rclpy.shutdown()