ros发布节点信息python_ROS Twist和Odometry消息类型使用（Python）

消息类型：

1. Twist - 线速度角速度

通常被用于发送到/cmd_vel话题，被base controller节点监听，控制机器人运动

geometry_msgs/Twist

geometry_msgs/Vector3 linear

float64 x

float64 y

float64 z

geometry_msgs/Vector3 angular

float64 x

float64 y

float64 z

linear.x指向机器人前方，linear.y指向左方，linear.z垂直向上满足右手系，平面移动机器人常常linear.y和linear.z均为0

angular.z代表平面机器人的角速度，因为此时z轴为旋转轴

示例：

#! /usr/bin/env python

'''Author: xushangnjlh at gmail dot com

Date: 2017/05/22

@package forward_and_back'''

importrospyfrom geometry_msgs.msg importTwistfrom math importpiclassForwardAndBack():def __init__(self):

rospy.init_node('forward_and_back', anonymous=False)

rospy.on_shutdown(self.shutdown)#this "forward_and_back" node will publish Twist type msgs to /cmd_vel

#topic, where this node act like a Publisher

self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=5)#parameters

rate = 50r=rospy.Rate(rate)

linear_speed= 0.2goal_distance= 5linear_duration= goal_distance/linear_speed

angular_speed= 1.0goal_angular=pi

angular_duration= goal_angular/angular_speed#forward->rotate->back->rotate

for i in range(2):#this is the msgs variant, has Twist type, no data now

move_cmd =Twist()

move_cmd.linear.x= linear_speed #

#should keep publishing

ticks = int(linear_duration*rate)for t i