test(left_line): update image saving path and remove unused tasks

- Update image saving path in ImageSubscriber class
- Remove unused imports and code related to task_4 and arrow detection
- Add import for run_task_test
- Comment out run_task_4 and uncomment run_task_test in main function

main.py

@@ -23,6 +23,7 @@ from utils.base_msg import BaseMsg
 from task_1.task_1 import run_task_1
 from task_2_5.task_2_5 import run_task_2_5
 from task_4.task_4 import run_task_4
+from task_test.task_left_line import run_task_test
 
 pass_marker = True
 
@@ -42,7 +43,9 @@ def main():
 
         # run_task_2_5(Ctrl, msg)
 
-        run_task_4(Ctrl, msg)
+        # run_task_4(Ctrl, msg)
+
+        run_task_test(Ctrl, msg)
 
         # time.sleep(100)
 

task_4/task_4.py

@@ -22,5 +22,7 @@ def run_task_4(ctrl, msg):
 
     turn_degree(ctrl, msg, 90, absolute=90)
 
-    go_straight(ctrl, msg, distance=6)
+    time.sleep(100)
+
+    # go_straight(ctrl, msg, distance=6)
 

task_test/task_arrow.py

@@ -5,7 +5,7 @@ import os
 # 添加父目录到路径，以便能够导入utils
 sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
 
-from task_arrow_test.detect_arrow_direction import ArrowDetector
+from task_test.detect_arrow_direction import ArrowDetector
 from base_move.turn_degree import turn_degree
 from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
 

task_test/task_left_line.py

@@ -0,0 +1,17 @@
+import time
+import sys
+import os
+
+# 添加父目录到路径，以便能够导入utils
+sys.path.append(os.path.dirname(os.path.dirname(os.path.abspath(__file__))))
+
+from base_move.turn_degree import turn_degree
+from base_move.move_base_hori_line import follow_left_side_track
+from utils.log_helper import LogHelper, get_logger, section, info, debug, warning, error, success, timing
+
+# 创建本模块特定的日志记录器
+logger = get_logger("任务-test")
+
+def run_task_test(ctrl, msg):
+    # follow_left_side_track(ctrl, msg)
+    time.sleep(100)

test/ros2/rgb-camera/img-raw-get.py

@@ -51,7 +51,7 @@ class ImageSubscriber(Node):
         if self.cv_image is not None:
             # Generate a timestamped filename
             timestamp = datetime.now().strftime("%Y%m%d_%H%M%S")
-            filename = f"../captured_images/test/image_{timestamp}.png"
+            filename = f"./captured_images/left_path/image_{timestamp}.png"
             
             cv2.imwrite(filename, self.cv_image)
             self.get_logger().info(f"Saved image as {filename}")