🎏 remove ros marker

main.py

@@ -17,7 +17,7 @@ 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.marker_client import MarkerRunner
+# from utils.marker_client import MarkerRunner
 from utils.base_msg import BaseMsg
 
 from task_1.task_1 import run_task_1
@@ -75,7 +75,7 @@ class Robot_Ctrl(object):
         self.odo_msg = localization_lcmt()
         self.image_processor = ImageProcessor()
         # DEBUG
-        self.marker_runner = MarkerRunner(pass_flag=pass_marker)
+        # self.marker_runner = MarkerRunner(pass_flag=pass_marker)
         self.send_lock = Lock()
         self.delay_cnt = 0
         self.mode_ok = 0
@@ -95,7 +95,7 @@ class Robot_Ctrl(object):
         self.rec_thread.start()
         self.odo_thread.start()
         self.image_processor.run()
-        self.marker_runner.run()
+        # self.marker_runner.run()
 
     def msg_handler(self, channel, data):
         self.rec_msg = robot_control_response_lcmt().decode(data)
@@ -160,30 +160,30 @@ class Robot_Ctrl(object):
         self.cmd_msg = msg
         self.send_lock.release()
 
-    def place_marker(self, x, y, z, color, observe=False):
+    # def place_marker(self, x, y, z, color, observe=False):
-        """调用 MarkerRunner 放置标志物"""
+    #     """调用 MarkerRunner 放置标志物"""
-        if self.marker_runner is None or self.marker_runner.marker_client is None:
+    #     if self.marker_runner is None or self.marker_runner.marker_client is None:
-            print("MarkerRunner 未初始化，无法放置标志物")
+    #         print("MarkerRunner 未初始化，无法放置标志物")
-            return None
+    #         return None
-        try:
+    #     try:
-            response = self.marker_runner.send_request(x, y, z, color, observe=observe)
+    #         response = self.marker_runner.send_request(x, y, z, color, observe=observe)
-            print(f"放置标志物结果: {response.success}, 消息: {response.message}")
+    #         print(f"放置标志物结果: {response.success}, 消息: {response.message}")
-            return response
+    #         return response
-        except Exception as e:
+    #     except Exception as e:
-            print(f"放置标志物时发生异常: {e}")
+    #         print(f"放置标志物时发生异常: {e}")
-            return None
+    #         return None
 
     def quit(self):
         self.runing = 0
         self.rec_thread.join()
         self.send_thread.join()
         self.image_processor.destroy()
-        # 销毁 MarkerRunner
+        # # 销毁 MarkerRunner
-        if hasattr(self, 'marker_runner') and self.marker_runner is not None:
+        # if hasattr(self, 'marker_runner') and self.marker_runner is not None:
-            try:
+        #     try:
-                self.marker_runner.destroy()
+        #         self.marker_runner.destroy()
-            except Exception as e:
+        #     except Exception as e:
-                print(f"MarkerRunner 销毁失败: {e}")
+        #         print(f"MarkerRunner 销毁失败: {e}")
 
 # Main function
 if __name__ == '__main__':