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3. 创建功能包mrobot\_teleop

$ cd ~/catkin_ws/src
$ catkin_create_pkg mrobot_teleop geometry_msgs rospy roscpp

再回到工作空间根目录下进行编译

$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

而后再在此功能包下创建两个文件夹launch和scripts  
 在launch文件下创建文件mrobot\_teleop.launch

4. 在launch文件下创建文件logitech.launch

5.在文件夹scripts下创建mrobot\_teleop.py

#!/usr/bin/env python

-- coding: utf-8 --

import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty

msg = “”"
Control mrobot!

Moving around:
u i o
j k l
m , .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit
“”"

moveBindings = {
‘i’:(1,0),
‘o’:(1,-1),
‘j’:(0,1),
‘l’:(0,-1),
‘u’:(1,1),
‘,’😦-1,0),
‘.’😦-1,1),
‘m’😦-1,-1),
}

speedBindings={
‘q’:(1.1,1.1),
‘z’😦.9,.9),
‘w’:(1.1,1),
‘x’😦.9,1),
‘e’:(1,1.1),
‘c’:(1,.9),
}

def getKey():
tty.setraw(sys.stdin.fileno())
rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
if rlist:
key = sys.stdin.read(1)
else:
key = ‘’

termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key

speed = .2
turn = 1

def vels(speed,turn):
return "currently:\tspeed %s\tturn %s " % (speed,turn)

if name==“main”:
settings = termios.tcgetattr(sys.stdin)

rospy.init_node(‘mrobot_teleop’)
pub = rospy.Publisher(‘/cmd_vel’, Twist, queue_size=5)

x = 0
th = 0
status = 0
count = 0
acc = 0.1
target_speed = 0
target_turn = 0
control_speed = 0
control_turn = 0
try:
print msg
print vels(speed,turn)
while(1):
key = getKey()
# 运动控制方向键（1：正方向，-1负方向）
if key in moveBindings.keys():
x = moveBindings[key][0]
th = moveBindings[key][1]
count = 0
# 速度修改键
elif key in speedBindings.keys():
speed = speed * speedBindings[key][0] # 线速度增加0.1倍
turn = turn * speedBindings[key][1] # 角速度增加0.1倍
count = 0

print vels(speed,turn)
if (status == 14):
print msg
status = (status + 1) % 15
# 停止键
elif key == ’ ’ or key == ‘k’ :
x = 0
th = 0
control_speed = 0
control_turn = 0
else:
count = count + 1
if count > 4:
x = 0
th = 0
if (key == ‘\x03’):
break

目标速度=速度值*方向值

        target_speed = speed * x
        target_turn = turn * th

速度限位，防止速度增减过快

        if target_speed > control_speed:
            control_speed = min( target_speed, control_speed + 0.02 )
        elif target_speed < control_speed:
            control_speed = max( target_speed, control_speed - 0.02 )
        else:
            control_speed = target_speed

if target_turn > control_turn:
control_turn = min( target_turn, control_turn + 0.1 )
elif target_turn < control_turn:
control_turn = max( target_turn, control_turn - 0.1 )
else:
control_turn = target_turn

创建并发布twist消息

        twist = Twist()
        twist.linear.x = control_speed; 
        twist.linear.y = 0; 
        twist.linear.z = 0
        twist.angular.x = 0; 
        twist.angular.y = 0; 
        twist.angular.z = control_turn
        pub.publish(twist)

except:
print e

finally:
twist = Twist()
twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
pub.publish(twist)

termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

下载teleop\_twist\_keyboard

$ cd ~/catkin_ws/src
$ git clone https://github.com/ros-teleop/teleop_twist_keyboard.git
$ cd ~/catkin_ws
$ catkin_make
$ source ./devel/setup.bash

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存中…(img-xNdgoeCP-1715801866179)]

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都欢迎加入我们的的圈子（技术交流、学习资源、职场吐槽、大厂内推、面试辅导），让我们一起学习成长！