ROS机器人turtlesim画圆轨迹的示例代码？

以下是画圆轨迹的示例代码：

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char** argv)
{
ros::init(argc, argv, "turtle_circle");
ros::NodeHandle nh;

ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 100);

ros::Rate rate(10);

while(ros::ok())
{
geometry_msgs::Twist msg;
msg.linear.x = 1.;
msg.angular.z = 1.;
pub.publish(msg);
rate.sleep();
}

return ;
}

相关问题

ROS机器人turtlesim画圆轨迹的Python示例代码？

### 回答1：
以下是ROS机器人turtlesim画圆轨迹的Python示例代码：

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist

def draw_circle():
    rospy.init_node('draw_circle', anonymous=True)
    velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    vel_msg = Twist()
    vel_msg.linear.x = 1
    vel_msg.angular.z = 1
    t = rospy.Time.now().to_sec()
    current_angle = 
    while(current_angle < 2*3.14):
        velocity_publisher.publish(vel_msg)
        t1 = rospy.Time.now().to_sec()
        current_angle = 1*(t1-t)
    vel_msg.linear.x = 
    vel_msg.angular.z = 
    velocity_publisher.publish(vel_msg)
    rospy.spin()

if __name__ == '__main__':
    try:
        draw_circle()
    except rospy.ROSInterruptException: pass

希望对你有所帮助！

### 回答2：
以下是使用ROS机器人turtlesim在Python中绘制圆形轨迹的示例代码：

import rospy
from geometry_msgs.msg import Twist

def move_turtle():
    rospy.init_node('move_turtle', anonymous=True)
    velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    vel_msg = Twist()

    # 设置线速度为0.5，并将角速度设为0（即只直线行走）
    vel_msg.linear.x = 0.5
    vel_msg.linear.y = 0
    vel_msg.linear.z = 0
    vel_msg.angular.x = 0
    vel_msg.angular.y = 0
    vel_msg.angular.z = 0

    # 获取圆的半径
    radius = input("请输入圆的半径值（单位为米）：")
    
    # 计算圆的运行时间，使得圆周长（2 * pi * r）等于500
    t = (2 * 3.14 * radius) / 0.5

    # 设置频率为10Hz
    rate = rospy.Rate(10)

    # 运行t秒
    start_time = rospy.get_time()
    while (rospy.get_time() - start_time) <= t:
        # 发布速度消息
        velocity_publisher.publish(vel_msg)
        rate.sleep()

    # 停止运动
    vel_msg.linear.x = 0
    velocity_publisher.publish(vel_msg)

if __name__ == '__main__':
    try:
        # 启动节点并运行绘制圆形轨迹的函数
        move_turtle()
    except rospy.ROSInterruptException:
        pass

这段代码假设机器人已经启动且turtlesim节点已经运行。代码通过接收用户输入的半径值来计算圆的运行时间，并将机器人的线速度设置为0.5m/s，然后根据运行时间让机器人绘制圆形轨迹。

### 回答3：
以下是一个使用Python编写的ROS机器人turtlesim画圆轨迹的示例代码：

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist

def draw_circle():
    # 创建一个ROS节点
    rospy.init_node('draw_circle_node', anonymous=True)
    
    # 创建一个发布器，用于发送速度消息给turtlesim
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    
    # 设置运动速度
    move_cmd = Twist()
    move_cmd.linear.x = 1.0   # 线速度，表示机器人平移的速度
    move_cmd.angular.z = 1.0  # 角速度，表示机器人旋转的速度
    
    # 发布速度消息，让机器人开始运动
    rospy.loginfo("Start drawing circle")
    pub.publish(move_cmd)
    
    # 循环运行，直到画完一个圆
    rate = rospy.Rate(10)  # 设置循环频率为10Hz
    while not rospy.is_shutdown():
        # 继续发布速度消息
        pub.publish(move_cmd)
        
        # 设置运动时间为2秒
        rospy.sleep(2.0)
        
        # 停止机器人运动
        move_cmd.linear.x = 0.0
        move_cmd.angular.z = 0.0
        pub.publish(move_cmd)
        
        rospy.loginfo("Circle drawn successfully")
        break
    
    # 关闭ROS节点
    rospy.spin()

if __name__ == '__main__':
    try:
        draw_circle()
    except rospy.ROSInterruptException:
        pass

这段代码会首先创建一个ROS节点，然后创建一个发布器，用于向turtlesim发送速度消息。通过设置线速度和角速度，使机器人运动成圆形轨迹。代码中设定机器人运动2秒钟后停止，并输出相关信息，最后关闭ROS节点。

ROS机器人turtlesim画圆轨迹的简单Python代码？

以下是画圆轨迹的简单Python代码：

import rospy
from geometry_msgs.msg import Twist
from math import pi

rospy.init_node('turtle_circle', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
vel_msg = Twist()

# 设置线速度和角速度
speed = 2
angle_speed = 2

# 计算圆的半径和周长
radius = 1
circumference = 2 * pi * radius

# 计算需要运行的时间
time = circumference / speed

# 设置角速度
vel_msg.angular.z = angle_speed

# 计算需要旋转的角度
angle = speed * time / radius

# 设置线速度
vel_msg.linear.x = speed

# 计算需要运行的距离
distance = speed * time

# 发布速度消息
current_distance = 
current_angle = 
t = rospy.Time.now().to_sec()
while current_distance < distance:
    velocity_publisher.publish(vel_msg)
    t1 = rospy.Time.now().to_sec()
    current_distance = speed * (t1 - t)
while current_angle < angle:
    velocity_publisher.publish(vel_msg)
    t2 = rospy.Time.now().to_sec()
    current_angle = angle_speed * (t2 - t1)

# 停止机器人
vel_msg.linear.x = 
vel_msg.angular.z = 
velocity_publisher.publish(vel_msg)