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feat: test gaid

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This commit is contained in:
havocrao 2025-08-18 22:03:49 +08:00
parent 17afe31406
commit e12a5466f3
1 changed files with 4 additions and 4 deletions
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8
main.py
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@ -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):
@ -214,7 +214,7 @@ 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: