将下面代码修改成ros2代码。 model_name = rospy.get_param('model_name', 'erfnet_road') weights_name = rospy.get_param('weights_name', 'weights_erfnet_road.pth') self.resize_factor = rospy.get_param('resize_factor', 5) self.debug = rospy.get_param('debug', True) self.with_road = rospy.get_param('with_road', True) queue_size = rospy.get_param('queue_size', 10)
时间: 2023-06-18 18:05:06 浏览: 59
import rclpy
from rclpy.node import Node
class MyNode(Node):
def __init__(self):
super().__init__('my_node')
model_name = self.get_parameter('model_name').get_parameter_value().string_value
weights_name = self.get_parameter('weights_name').get_parameter_value().string_value
self.resize_factor = self.get_parameter('resize_factor').get_parameter_value().integer_value
self.debug = self.get_parameter('debug').get_parameter_value().bool_value
self.with_road = self.get_parameter('with_road').get_parameter_value().bool_value
queue_size = self.get_parameter('queue_size').get_parameter_value().integer_value
def main(args=None):
rclpy.init(args=args)
node = MyNode()
rclpy.spin(node)
rclpy.shutdown()
if __name__ == '__main__':
main()