ROS入门

ros入门历程

需要考虑旋转角度，行走直线

代码

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
import math

def pose_callback(data):
    # 回调函数获取小乌龟的位置信息，这里我们不需要处理该信息
    pass

def draw_star():
    rospy.init_node('draw_star', anonymous=True)
    turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    rospy.Subscriber('/turtle1/pose', Pose, pose_callback)

    rate = rospy.Rate(1)  # 设置ROS节点的更新频率

    # 等待TurtleSim启动并获取初始位置
    rospy.loginfo("等待TurtleSim启动...")
    rate.sleep()

    # 控制小乌龟画五角星
    for _ in range(5):
        move_cmd = Twist()
        move_cmd.linear.x = 2.0  # 设置小乌龟前进速度
        move_cmd.angular.z = 0 # 设置小乌龟旋转角速度，使其转向形成五角星
        turtle_vel_pub.publish(move_cmd)
        rate.sleep()
        
        move_cmd.linear.x = 0  # 设置小乌龟前进速度
        move_cmd.angular.z = math.pi- math.pi/5  # 设置小乌龟旋转角速度，使其转向形成五角星
        turtle_vel_pub.publish(move_cmd)
        rate.sleep()
        
        move_cmd.linear.x = 2.0  # 停止小乌龟前进
        move_cmd.angular.z = 0  # 停止小乌龟旋转
        turtle_vel_pub.publish(move_cmd)
        rate.sleep()
        
    move_cmd = Twist()
    move_cmd.linear.x = 0  # 设置小乌龟前进速度
    move_cmd.angular.z = 0 # 设置小乌龟旋转角速度，使其转向形成五角星
    turtle_vel_pub.publish(move_cmd)
    rate.sleep()
    

    rospy.loginfo("画五角星完成！")

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