velocity_node
#!/usr/bin/env python3
# coding=utf-8
import rospy
from geometry_msgs.msg import Twist
if __name__ == '__main__':
# 初始化ros节点
rospy.init_node("velocity_node")
rospy.logwarn("velocity_node is run")
# 获得publish对象
velocity_publisher = rospy.Publisher("/cmd_vel", Twist, queue_size=10)
# 获得消息对象
velocity_message = Twist()
# 设置对应的速度
velocity_message.linear.x = 0.5
# 控制消息发送频率
velocity_rate = rospy.Rate(30)
while not rospy.is_shutdown():
# 发送消息,控制速度
velocity_publisher.publish(velocity_message)
# 用rospy中的loginfo方法表明该节点仍然在运行
rospy.loginfo("velocity_node is still running")
# 控制频率
velocity_rate.sleep()