键盘控制gazebo仿真小车移动python代码

在Gazebo中，使用Python控制仿真车辆的键盘输入通常涉及到监听按键输入和发送相应控制信号给机器人模型。这里是一个简单的示例，使用ROS（Robot Operating System）的msg和srv接口来实现小车的前进、后退、左转和右转：

首先，确保你已经安装了rospy和gazebo_ros包，并且小车模型支持odom topic接收速度命令。以下是一个基础的Python脚本：

import rospy
from std_msgs.msg import String
from gazebo_msgs.srv import SetModelState, SetModelStateRequest

class GazeboCarControl:
    def __init__(self):
        self.speed_publisher = rospy.Publisher('/car/cmd_vel', Twist, queue_size=10)
        self.set_state_service = rospy.ServiceProxy('/gazebo/set_model_state', SetModelState)

    def move_car(self, key_event):
        twist_msg = Twist()  # 创建Twist消息
        if key_event == 'w':  # 前进
            twist_msg.linear.x = 0.5  # 速度设定为0.5m/s
        elif key_event == 's':  # 后退
            twist_msg.linear.x = -0.5  # 负数表示向相反方向
        else:  # 左右转向
            twist_msg.angular.z = 1.0 if key_event == 'a' else -1.0  # +1 或 -1 表示转动角度

        self.speed_publisher.publish(twist_msg)

    def reset_car(self):
        req = SetModelStateRequest()
        req.model_name = 'your_car_model_name'  # 替换为你的模型名称
        req.pose.position.x = 0.0  # 设定新位置
        req.pose.position.y = 0.0
        req.pose.position.z = 0.0
        req.pose.orientation.x = 0.0
        req.pose.orientation.y = 0.0
        req.pose.orientation.z = 0.0
        req.pose.orientation.w = 1.0
        req.reference_frame = 'world'
        self.set_state_service(req)

if __name__ == '__main__':
    rospy.init_node('keyboard_control')
    car_controller = GazeboCarControl()
    rate = rospy.Rate(10)  # 每10Hz更新

    while not rospy.is_shutdown():
        key_input = input("Enter 'w' for forward, 's' for backward, 'a' for left, 'd' for right or press 'r' to reset: ")
        car_controller.move_car(key_input)
        rate.sleep()

    car_controller.reset_car()
    rospy.signal_shutdown("Finished")

记得替换`'your_car_model_name'`为你小车模型的实际名字，并在Gazebo环境中激活该模型。