Сделали класс

shablons/color.py

@@ -1,9 +1,13 @@
-color=''
+class ColorDetect():
+    def __init__(self):
+        self.color = None
 
-def detect_color_callback(data, print_type='str'):
+    def getColor(self):
+        return self.color
+
+    def detect_color_callback(self, data, print_type='str'):
         '''определение цвета'''
 
-    global color 
         frame = bridge.imgmsg_to_cv2(data, 'bgr8')
         height, width = frame.shape[:2]
         y_start = int(height * 0.33)
@@ -21,7 +25,7 @@ def detect_color_callback(data, print_type='str'):
 
             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)
+            self.color = str(mean_rgb)
         
 
         elif print_type == 'str':
@@ -32,24 +36,24 @@ def detect_color_callback(data, print_type='str'):
             
             
             if b > g and b > r and b > 100:  
-            color = 'blue'
+                self.color = 'blue'
             elif g > b and g > r and g > 100:  
-            color = 'green'
+                self.color = 'green'
             elif r > b and r > g and r > 100:  
-            color = 'red'
+                self.color = 'red'
             else:
-            color = 'unknown'
-    return(color)
+                self.color = None
 
 
 
 
 
 #в MAIN для вызова функции должно быть:
-
+# cd = ColorDetect()
     #color_sub = rospy.Subscriber('main_camera/image_raw', Image, 
-                              #lambda img: detect_color_callback(img, print_type='rgb'), 
+                              #lambda img: cd.detect_color_callback(img, print_type='rgb'), 
                               #queue_size=1)
+    # print(cd.getColor())
     #rospy.sleep(2)
     #color_sub.unregister()