переделала шаблоны кода для дрона, исправила ошибки в saveResult

public/shablons/color.txt

@@ -1,54 +1,47 @@
-class ColorDetect():
-    def __init__(self):
-        self.color = None
+def color_detection(data, print_type='str'):
+    '''определение цвета'''
 
-    def getColor(self):
-        return self.color
+    frame = bridge.imgmsg_to_cv2(data, 'bgr8')
+    height, width = frame.shape[:2]
+    y_start = int(height * 0.33)
+    y_end = int(height * 0.67)
+    x_start = int(width * 0.31)
+    x_end = int(width * 0.69)
 
-    def detect_color_callback(self, data, print_type='str'):
-        '''определение цвета'''
+    cropped_frame = frame[y_start:y_end, x_start:x_end]
+    
+    if cropped_frame.size == 0:
+        return
+    
 
-        frame = bridge.imgmsg_to_cv2(data, 'bgr8')
-        height, width = frame.shape[:2]
-        y_start = int(height * 0.33)
-        y_end = int(height * 0.67)
-        x_start = int(width * 0.31)
-        x_end = int(width * 0.69)
+    if print_type == 'rgb':
 
-        cropped_frame = frame[y_start:y_end, x_start:x_end]
+        mean_bgr = cv2.mean(cropped_frame)[:3]
+        mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))  
+        color = str(mean_rgb)
+    
+
+    elif print_type == 'str':
+
+        # Получаем средние значения BGR
+        mean_bgr = cv2.mean(cropped_frame)[:3]
+        b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
         
-        if cropped_frame.size == 0:
-            return
         
-
-        if print_type == 'rgb':
-
-            mean_bgr = cv2.mean(cropped_frame)[:3]
-            mean_rgb = (int(mean_bgr[2]), int(mean_bgr[1]), int(mean_bgr[0]))  
-            self.color = str(mean_rgb)
-        
-
-        elif print_type == 'str':
-
-            # Получаем средние значения BGR
-            mean_bgr = cv2.mean(cropped_frame)[:3]
-            b, g, r = int(mean_bgr[0]), int(mean_bgr[1]), int(mean_bgr[2])
-            
-            
-            if b > g and b > r and b > 100:  
-                self.color = 'blue'
-            elif g > b and g > r and g > 100:  
-                self.color = 'green'
-            elif r > b and r > g and r > 100:  
-                self.color = 'red'
-            else:
-                self.color = None
+        if b > g + 20 and b > r + 20 and b > 100 + 20:  
+            color = 'blue'
+        elif g > b + 20 and g > r + 20 and g > 100:  
+            color = 'green'
+        elif r > b + 20 and r > g + 20 and r > 100:  
+            color = 'red'
+        elif r > 150 and g > 150 and g > 150:
+            color= 'white'
+        else:
+            color = None
 
 #в MAIN для вызова функции должно быть:
-# cd = ColorDetect()
-    #color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
-                              #lambda img: cd.detect_color_callback(img, print_type='rgb'), 
-                              #queue_size=1)
-    # print(cd.getColor())
-    #rospy.sleep(2)
-    #color_sub.unregister()
+#color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
+                            #lambda img: color_detection(img, print_type='rgb'), 
+                            #queue_size=1)
+#rospy.sleep(2)
+#color_sub.unregister()

public/shablons/emergency_and_navigate.txt

@@ -17,6 +17,8 @@ get_telemetry = rospy.ServiceProxy('get_telemetry', srv.GetTelemetry) #сеов
 navigate = rospy.ServiceProxy('navigate', srv.Navigate) #сервис для полета по указаным координатам
 land = rospy.ServiceProxy('land', Trigger) #сервис для посадки
 
+rospy.init_node('flight')
+bridge = CvBridge()
 
 def navigate_wait(x=0, y=0, z=1, speed=0.5, frame_id='aruco_map', auto_arm=False, tolerance=0.2,sleep=2):
     """

public/shablons/qr.txt

@@ -1,16 +1,7 @@
-class QrDetect():
-    def __init__(self):
-        self.qr_data = ''
-
-    def getQrData(self):
-        return self.qr_data
+def qr_detection(data):
+    cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')
+    barcodes = pyzbar.decode(cv_image)
     
-    def qr_detection(self,data):
-        '''сканирование qr кода'''
-        if self.qr_data!= '':
-            return
-        cv_image = bridge.imgmsg_to_cv2(data, 'bgr8')
-        barcodes = pyzbar.decode(cv_image)
-
-        if barcodes:
-            self.qr_data = barcodes[0].data.decode('utf-8')
+    if barcodes:
+        qr_data = barcodes[0].data.decode('utf-8')
+        return qr_data