ROS----rospy编写turtlesim程序

最新推荐文章于 2022-04-29 21:20:06 发布

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最新推荐文章于 2022-04-29 21:20:06 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/weixin_42957913/article/details/106134692

版权

本文档介绍了如何在ROS环境中使用rospy库编写Python程序来控制turtlesim模拟器，包括移动乌龟及获取其位置信息，通过位置反馈实现精确控制。

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一、移动turtlesim

roscore
rosrun turtlesim turtlesim_node
rostopic pub /turtle1/cmd_vel geometry_msgs/Twist "linear:
x:0.1
y:0
z:0
angular:
x:0
y:0
z:0"

python文件：

#!/usr/bin/env python
import rospy
#Importing Twist message: Used to send velocity to Turtlesim
from geometry_msgs.msg import Twist
#Handling command line arguments
import sys
#Function to move turtle: Linear and angular velocities are arguments
def move_turtle(lin_vel,ang_vel):
	rospy.init_node('move_turtle', anonymous=False)
	#The /turtle1/cmd_vel is the topic in which we have to send Twist messages
	pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
	rate = rospy.Rate(10) # 10hz
	#Creating Twist message instance
	vel = Twist()
	while not rospy.is_shutdown():
		#Adding linear and angular velocity to the message
		vel.linear.x = lin_vel
		vel.linear.y = 0
		vel.linear.z = 0
		vel.angular.x = 0
		ve