如何用rospy在ros中给小海龟发布函数total_move(5.54,5.54,5.54,8.54)
时间: 2024-05-01 07:21:41 浏览: 15
可以按照以下步骤使用rospy在ROS中给小海龟发布函数total_move:
1. 首先,在终端中启动ROS master节点:`roscore`
2. 然后,在新的终端中启动ROS小海龟仿真环境:`roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch`
3. 接着,在新的终端中启动小海龟的控制节点:`roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch`
4. 最后,在新的终端中编写ROS节点代码,发布函数total_move:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
def total_move(x, y, z, w):
rospy.init_node('total_move', anonymous=True)
pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
rate = rospy.Rate(10)
move_cmd = Twist()
move_cmd.linear.x = x
move_cmd.linear.y = y
move_cmd.linear.z = z
move_cmd.angular.x = 0
move_cmd.angular.y = 0
move_cmd.angular.z = w
while not rospy.is_shutdown():
pub.publish(move_cmd)
rate.sleep()
if __name__ == '__main__':
try:
total_move(5.54,5.54,5.54,8.54)
except rospy.ROSInterruptException:
pass
```
在终端中运行该节点代码:`rosrun [package_name] [node_name].py`,其中`[package_name]`为节点所在的ROS包名,`[node_name]`为节点名称,例如:`rosrun my_turtle total_move.py`。
当你运行该节点后,小海龟会根据`total_move(5.54,5.54,5.54,8.54)`函数的参数移动。