1ros中实现两只小乌龟一个画圆圈一个画方块的代码实现

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
import math

def draw_circle():
    # 初始化ROS节点
    rospy.init_node('draw_circle', anonymous=True)

    # 创建一个发布器，向/turtle1/cmd_vel话题发送Twist消息
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    rate = rospy.Rate(10)  # 10Hz

    # 创建Twist消息
    vel_msg = Twist()
    vel_msg.linear.x = 1.0  # 向前运动速度
    vel_msg.angular.z = 1.0  # 角速度

    # 发布消息
    while not rospy.is_shutdown():
        pub.publish(vel_msg)
        rate.sleep()

def draw_square():
    # 初始化ROS节点
    rospy.init_node('draw_square', anonymous=True)

    # 创建一个发布器，向/turtle2/cmd_vel话题发送Twist消息
    pub = rospy.Publisher('/turtle2/cmd_vel', Twist, queue_size=10)
    rate = rospy.Rate(1)  # 1Hz

    # 创建Twist消息
    vel_msg = Twist()

    while not rospy.is_shutdown():
        # 向前运动
        vel_msg.linear.x = 2.0
        vel_msg.angular.z = 0.0
        pub.publish(vel_msg)
        rospy.sleep(2)  # 直行2秒

        # 停止前进，准备转弯
        vel_msg.linear.x = 0.0
        pub.publish(vel_msg)
        rospy.sleep(1)

        # 左转90度
        vel_msg.angular.z = math.pi / 2  # 90度
        pub.publish(vel_msg)
        rospy.sleep(1)  # 转弯1秒

        # 停止转弯
        vel_msg.angular.z = 0.0
        pub.publish(vel_msg)
        rospy.sleep(1)

if __name__ == '__main__':
    try:
        # 启动两个节点，一个控制画圆圈，一个控制画方块
        draw_circle()
    except rospy.ROSInterruptException:
        pass