fix: up

main.py

@@ -17,7 +17,7 @@ import rclpy
 from utils.robot_control_cmd_lcmt import robot_control_cmd_lcmt
 from utils.robot_control_response_lcmt import robot_control_response_lcmt
 from utils.localization_lcmt import localization_lcmt
-# from utils.image_raw import ImageProcessor
+from utils.image_raw import ImageProcessor
 from utils.base_msg import BaseMsg
 from utils.speech_demo import speak
 # from utils.marker_client import MarkerRunner
@@ -107,7 +107,7 @@ class Robot_Ctrl(object):
         self.cmd_msg = robot_control_cmd_lcmt()
         self.rec_msg = robot_control_response_lcmt()
         self.odo_msg = localization_lcmt()
-        # self.image_processor = ImageProcessor()
+        self.image_processor = ImageProcessor()
         # DEBUG
         # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()
@@ -128,7 +128,7 @@ class Robot_Ctrl(object):
         self.send_thread.start()
         self.rec_thread.start()
         self.odo_thread.start()
-        # self.image_processor.run()
+        self.image_processor.run()
         # self.marker_runner.run()
 
     def msg_handler(self, channel, data):
@@ -196,7 +196,6 @@ class Robot_Ctrl(object):
         self.send_lock.release()
 
     def place_marker(self, x, y, z, color, observe=False):
-        return None
         return None
         """调用 MarkerRunner 放置标志物"""
         if self.marker_runner is None or self.marker_runner.marker_client is None:
@@ -214,7 +213,7 @@ class Robot_Ctrl(object):
         self.runing = 0
         self.rec_thread.join()
         self.send_thread.join()
-        # self.image_processor.destroy()
+        self.image_processor.destroy()
         # 销毁 MarkerRunner
         if hasattr(self, 'marker_runner') and self.marker_runner is not None:
             try: