问题描述
想要实现像小乌龟范例那样,键盘控制机器人移动。
解决方法
这种控制事件用python实现即可,不需要用c++。用到的是curses库。这样做的好处是,不用下载另外的库,如pygame等。
直接上代码:
#!/usr/bin/env python
import sys
import rospy
import curses
from geometry_msgs.msg import Twist
def main(stdscr):
while True:
keycode = stdscr.getch()
if keycode == curses.KEY_UP:
sys.stdout.write(' ahead ')
twist.linear.x=2
pub.publish(twist)
twist.linear.x = 0
elif keycode == curses.KEY_DOWN:
sys.stdout.write(' back ')
twist.linear.x=-2
pub.publish(twist)
twist.linear.x = 0
elif keycode == curses.KEY_LEFT:
sys.stdout.write(' left ')
twist.linear.y=2
pub.publish(twist)
twist.linear.y = 0
elif keycode == curses.KEY_RIGHT:
sys.stdout.write(' right ')
twist.linear.y= -2
pub.publish(twist)
twist.linear.y = 0
elif keycode == ord('w'):
sys.stdout.write(' up ')
twist.linear.z= 2
pub.publish(twist)
twist.linear.z = 0
elif keycode == ord('s'):
sys.stdout.write(' down ')
twist.linear.z= -2
pub.publish(twist)
twist.linear.z = 0
elif keycode == ord('a'):
sys.stdout.write(' turn_L ')
twist.angular.z= 2
pub.publish(twist)
twist.angular.z= 0
elif keycode == ord('d'):
sys.stdout.write(' turn_R ')
twist.angular.z= -2
pub.publish(twist)
twist.angular.z= 0
elif keycode == ord('q'):
break
sys.stdout.flush()
if __name__ == '__main__':
rospy.init_node('send_vel')
pub = rospy.Publisher('/robot/cmd_vel', Twist, queue_size=1000)#改成自己的topic
twist=Twist()
twist.linear.x=0
twist.linear.y = 0
twist.linear.z = 0
twist.angular.x = 0
twist.angular.y = 0
twist.angular.z = 0
curses.wrapper(main)
虽然代码看上去很长,但实际上很简单,而且很有规律。这样就实现了方向键控制前进后退等移动,wasd建,控制上升下降等,看具体的设计。按q退出。控制时,是在命令行里控制。