usb_camera卡顿修改为rasp_camera;调整摄像头位置，更改中心值大小为140

src/rasp_camera/scripts/line_follow.py

@@ -1,4 +1,13 @@
 #!/usr/bin/env python
+'''
+Author: adam_zhuo
+Date: 2020-10-21 16:31:05
+LastEditTime: 2021-01-13 16:06:33
+LastEditors: Please set LastEditors
+Description: In User Settings Edit
+FilePath: /blackTornadoRobot/src/rasp_camera/scripts/line_follow.py
+'''
+
 import rospy, cv2, cv_bridge, numpy, math, datetime
 from sensor_msgs.msg import Image
 from geometry_msgs.msg import Twist
@@ -33,7 +42,7 @@ class Follower:
 
         # ROI
         # cropped = img[y0:y1, x0:x1]
-        cropped = img[190:240, 20:300]
+        cropped = img[0:140, 20:300]
 
         cv2.imshow('window_cropped',cropped)
         cv2.waitKey(3)
@@ -53,7 +62,7 @@ class Follower:
         y, x = (binimg < 125).nonzero()
 
         # Judge center of line
-        x0 = 160
+        x0 = 140
         if x.shape[0] != 0:
             y0 = (max(y) + min(y))/2
             x0 = (max(x) + min(x))/2
@@ -69,7 +78,7 @@ class Follower:
         else:    
             self.cnt = 0
             # control
-            err = x0 - 160
+            err = x0 - 140
             print 'err:', err
             self.twist.linear.x = 0.08
             self.twist.angular.z = 0.0

src/robot_bringup/launch/robot_bringup.launch

@@ -45,8 +45,6 @@
     <include file="$(find voice_system)/launch/startup_voice_system.launch" />
 
     <!-- (7) startup rasp camera -->
-    <!-- <include file="$(find rasp_camera)/launch/rasp_camera.launch" /> -->
+    <include file="$(find rasp_camera)/launch/rasp_camera.launch" />
 
-    <!-- (7) startup usb camera -->
-    <include file="$(find robot_camera)/launch/robot_camera.launch" />
 </launch>