rospy. init_node('move_turtle' , anonymous = False)
时间: 2024-01-24 22:03:47 浏览: 27
这段代码是在ROS中创建一个节点,节点的名称为"move_turtle",并且anonymous参数设置为False,表示该节点的名称不会被自动添加一个随机数。这个节点可以用来控制ROS中的海龟机器人(turtlebot)进行移动。接下来可以通过该节点发布控制命令,例如控制机器人前进、后退、转弯等操作。
相关问题
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)
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。
使用rospy让ros小海龟走圆形
好的,我可以为您提供一个使用 rospy 让 ROS 小海龟走圆形的示例代码,具体如下:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
def pose_callback(msg):
global x, y, theta
x = msg.x
y = msg.y
theta = msg.theta
def move():
global x, y, theta
rospy.init_node('turtle_circle', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
pose_subscriber = rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
rate = rospy.Rate(10) # 10hz
radius = 1.0 # 圆形半径
speed = 1.0 # 线速度
angular_speed = speed / radius # 角速度
distance = 2 * 3.14159265358979323846 * radius # 圆形周长
t0 = rospy.Time.now().to_sec()
while not rospy.is_shutdown():
t1 = rospy.Time.now().to_sec()
current_distance = speed * (t1 - t0)
if current_distance >= distance:
break
vel_msg = Twist()
vel_msg.linear.x = speed
vel_msg.angular.z = angular_speed
velocity_publisher.publish(vel_msg)
rate.sleep()
vel_msg = Twist()
vel_msg.linear.x = 0
vel_msg.angular.z = 0
velocity_publisher.publish(vel_msg)
rospy.spin()
if __name__ == '__main__':
x = 0
y = 0
theta = 0
try:
move()
except rospy.ROSInterruptException:
pass
```
这段代码会让 ROS 小海龟在 turtlesim 中画一个半径为 1 米的圆形。您可以将此代码保存到一个 Python 文件中并运行它,ROS 小海龟将开始画圆形。