ROS学习历程——（一）

1、发布速度话题控制乌龟和小车

roscore
rosrun turtlesim turtlesim_node
rostopic list
rostopic pub -r 10 /turtle1/cmd_vel geometry_msgs/Twist "linear:

2、创建工作空间

mkdir -p ~/tutorial_ws/src
cd tutorial_ws/src/
catkin_create_pkg ros_code std_msgs rospy roscpp
cd ..
catkin_make
source devel/setup.bash

3、(base) xu@xu-RedmiBook-16:~/tutorial_ws/src/ros_code下创建文件夹：scripts用来放python文件

mkdir scripts

4、打开新的终端添加:

gedit .bashrc
添加：source ~/tutorial_ws/devel/setup.bash
source .bashrc

以上完成了环境搭建。

1、在scripts文件夹下创建创建文件：

touch pub_vel.py
chmod +x pub_vel.py  #设置为可执行文件
# 打开pub_vel.py添加代码
#!/usr/bin/env python
# license removed for brevity
import rospy
from std_msgs.msg import String

def talker():
    pub = rospy.Publisher('chatter', String, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        hello_str = "hello world %s" % rospy.get_time()
        rospy.loginfo(hello_str)
        pub.publish(hello_str)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

2、打开新的终端

r0score

3、在scripts文件夹下运行终端

python3 pub_vel.py 或
python pub_vel.py 

4、对文件夹内容的修改

roscore
rosrun turtlesim turtlesim_node

查看话题并修改

rostopic list

话题的消息类型修改

rostopic type /turtle1/cmd_vel

 修改发布内容

#!/usr/bin/env python
# license removed for brevity
import rospy
from geometry_msgs.msg import Twist

def talker():
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        vel_cmd = Twist()
        vel_cmd.linear.x = o.5
        vel_cmd.angular.z = 1.0
        pub.publish(vel_cmd)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass

实现简单仿真

1、从控制乌龟到控制小车——只需修改话题（把机器人抽象为话题）

2、常用命令行工具：

rostopic list    话题列表

rostopic pub -r 10 /turtle1/cmd_vel tab   发布内容

rostopic echo /turtle1/cmd_vel     打印话题内容

rostopic type /turtle1/cmd_vel      打印消息类型

rosmsg show /turtle1/Pose             打印消息类型的具体格式

3、控制小车

#!/usr/bin/env python
# license removed for brevity
import rospy
from geometry_msgs.msg import Twist

def talker():
    pub = rospy.Publisher('/tianbot_mini/cmd_vel', Twist, queue_size=10)
    rospy.init_node('talker', anonymous=True)
    rate = rospy.Rate(10) # 10hz
    while not rospy.is_shutdown():
        vel_cmd = Twist()
        vel_cmd.linear.x = 0.5
        vel_cmd.linear.y = 1.0
        vel_cmd.angular.z = 1.0
        pub.publish(vel_cmd)
        rate.sleep()

if __name__ == '__main__':
    try:
        talker()
    except rospy.ROSInterruptException:
        pass


####连接小车，更改小车的名字tianbot_mini，且添加y轴