请用ros和turtlesim模拟器,用python语言写一段乌龟路径为五个角十条边的代码
时间: 2024-03-25 12:39:22 浏览: 72
好的,以下是用ROS和turtlesim模拟器,用Python语言写一段乌龟路径为五个角十条边的代码:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi
def draw_polygon():
# 初始化节点
rospy.init_node('draw_polygon', anonymous=False)
# 创建Publisher
pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
# 设置频率
rate = rospy.Rate(1)
# 创建twist消息
move_cmd = Twist()
# 绘制五边形
for i in range(5):
# 直线移动
move_cmd.linear.x = 2
move_cmd.linear.y = 0
move_cmd.linear.z = 0
# 发布消息
pub.publish(move_cmd)
# 等待足够的时间
rospy.sleep(2)
# 停止移动
move_cmd.linear.x = 0
move_cmd.linear.y = 0
move_cmd.linear.z = 0
move_cmd.angular.x = 0
move_cmd.angular.y = 0
move_cmd.angular.z = 0
# 发布消息
pub.publish(move_cmd)
# 旋转
move_cmd.angular.z = pi/5
# 发布消息
pub.publish(move_cmd)
# 等待足够的时间
rospy.sleep(2)
# 停止旋转
move_cmd.angular.z = 0
# 发布消息
pub.publish(move_cmd)
# 停止节点
rospy.spin()
if __name__ == '__main__':
try:
draw_polygon()
except rospy.ROSInterruptException:
pass
```
以上代码会让乌龟在turtlesim模拟器中绘制一个五个角十条边的多边形,每条边长为2,并且每条边之间会旋转72度。
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