ROS_Python编程 之 案例代码核心解析(第四版)
通过Handsfree mini机器人平台配套的中级教程,我对ros_python 进阶编程 的知识做以下归纳:
文章目录
5. 进阶编程
handsfree mini 机器人工控机自带的ros系统一共有三份代码,分别是 get_angular_odom.py,nav_obstacle.py 和 nav_square.py
- get_angular_odom.py 获取偏航角度(角度制)
- nav_obstacle.py 一直沿x轴方向运动,直到感知到附近有障碍物时停下
- nav_square.py 使用直接发速度的方式画出一个正方形
5.1 get_angular_odom.py
get_angular_odom.py 的源码如下:
#! /usr/bin/python
## coding:utf-8
import PyKDL
import rospy
from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Twist
from math import *
import threading
import os
import subprocess
import yaml
#四元数转欧拉角
def quat_to_angle(quat):
rot = PyKDL.Rotation.Quaternion(quat.x, quat.y, quat.z, quat.w)
return rot.GetRPY()[2]
def normalize_angle(angle):
res = angle
while res > pi:
res -= 2.0*pi
while res < -pi:
res += 2.0*pi
return res
class CalibrateRobot1:
def __init__(self):
self.lock = threading.Lock()#创建锁
self.odom_frame = rospy.get_param('~odom_frame', '/mobile_base/mobile_base_controller/odom')
self.sub_imu = rospy.Subscriber(self.odom_frame, Odometry, self.imu_cb)
self.last_imu_angle = 0
self.imu_angle = 0
while not rospy.is_shutdown():
rospy.sleep(0.3)
rospy.loginfo("imu_angle:"+str((self.imu_angle)*180/pi))
def imu_cb(self, msg):
with self.lock:#自动进行上锁,等语句运行完毕,自动解锁
angle = quat_to_angle(msg.pose.pose.orientation)
self.imu_angle = angle
self.imu_time = msg.header.stamp
def main():
rospy.init_node('scan_to_angle1')
CalibrateRobot1()
if __name__ == '__main__':
main()
sensor_msgs/Imu Message 的定义如下:
Header header
geometry_msgs/Quaternion orientation
float64[9] orientation_covariance #朝向的协方差矩阵
geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance #角速度的协方差矩阵
geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance #线加速度的协方差矩阵
nav_msgs/Odometry Message 的定义如下:
Header header
string child_frame_id
geometry_msgs/PoseWithCovariance pose
geometry_msgs/TwistWithCovariance twist
geometry_msgs/Twist Message 的定义如下:
Vector3 linear
Vector3 angular
5.2 nav_obstacle.py
nav_obstacle.py 的源码如下:
#!/usr/bin/env python
# coding:utf-8
import rospy
import math
from sensor_msgs.msg import LaserScan
from geometry_msgs.msg import Twist
class Obstacle():
def __init__(self):
self.velocity_topic = rospy.get_param