ros用python让turtlesim画出一个空心五角星的轨迹的程序
时间: 2024-05-15 08:17:19 浏览: 151
Python使用turtule画五角星的方法
好的,以下是用Python在ROS中让turtlesim画出一个空心五角星的轨迹的程序:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi
def draw_star():
rospy.init_node('draw_star', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
vel_msg = Twist()
# Set linear velocity
vel_msg.linear.x = 1
vel_msg.linear.y = 0
vel_msg.linear.z = 0
# Set angular velocity
vel_msg.angular.x = 0
vel_msg.angular.y = 0
vel_msg.angular.z = 2 * pi / 5 # 72 degrees
# Time to run for each leg of the star
time_to_run = 6
for i in range(5):
# Run for time_to_run seconds
start_time = rospy.Time.now().to_sec()
while rospy.Time.now().to_sec() - start_time < time_to_run:
velocity_publisher.publish(vel_msg)
# Stop for one second before starting the next leg
vel_msg.linear.x = 0
vel_msg.angular.z = 0
velocity_publisher.publish(vel_msg)
rospy.sleep(1)
# Set angular velocity for next leg
vel_msg.angular.z += 2 * pi / 5
# Stop the turtle
vel_msg.linear.x = 0
vel_msg.angular.z = 0
velocity_publisher.publish(vel_msg)
if __name__ == '__main__':
try:
draw_star()
except rospy.ROSInterruptException:
pass
```
请注意,这个程序涉及到ROS和Python编程,可能需要一些基本的编程知识和ROS的了解。如果你还不了解ROS或Python,可以先从相关的入门资料开始学习。
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