python编程矩形的周长和面积_Turbot与python编程-实现走方形

Turbot与python教程-实现走方形

说明：

介绍如何实现通过python控制turbot实现走方形

代码：

实现代码：

#!/usr/bin/env python

# An example of TurtleBot 2 drawing a 0.4 meter square.

# Written for indigo

# drawSquare.py

import rospy

from geometry_msgs.msg import Twist

from math import radians

class DrawASquare():

def __init__(self):

# initiliaze

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

# What to do you ctrl + c

rospy.on_shutdown(self.shutdown)

self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10)

# 5 HZ

r = rospy.Rate(5);

# create two different Twist() variables. One for moving forward. One for turning 45 degrees.

# let's go forward at 0.2 m/s

move_cmd = Twist()

move_cmd.linear.x =