refactor(main.py): implement pass flag functionality for MarkerRunner

- Add pass_marker variable to main.py
- Update MarkerRunner initialization in Robot_Ctrl class
- Modify MarkerRunner class to accept pass_flag parameter
- Implement pass flag logic in MarkerRunner's send_request method
- Initialize ROS 2 context in main function

main.py

@@ -23,6 +23,8 @@ from utils.base_msg import BaseMsg
 from task_1.task_1 import run_task_1
 from task_5.task_5 import run_task_5
 
+pass_marker = True
+
 def main():
     rclpy.init()  # 新增：在主程序中统一初始化 ROS 2 上下文
     Ctrl = Robot_Ctrl()
@@ -66,7 +68,7 @@ class Robot_Ctrl(object):
         self.odo_msg = localization_lcmt()
         self.image_processor = ImageProcessor()
         # DEBUG
-        self.marker_runner = MarkerRunner()
+        self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()
         self.delay_cnt = 0
         self.mode_ok = 0

utils/marker_client.py

@@ -23,8 +23,9 @@ class MarkerClient(Node):
     
 
 class MarkerRunner:
-    def __init__(self):
+    def __init__(self, pass_flag=False):
         self.marker_client = None
+        self.pass_flag = pass_flag
 
     def run(self):
         self.marker_client = MarkerClient()
@@ -34,6 +35,8 @@ class MarkerRunner:
             self.marker_client.destroy_node()
     
     def send_request(self, x, y, z, color, observe=False):
+        if self.pass_flag:
+            return "pass flag."
         response = self.marker_client.send_request(x, y, z, color)
         if observe:
             self.marker_client.get_logger().info(