from turtlesim.msg import Pose里面有什么
时间: 2024-05-23 20:10:52 浏览: 9
在ROS的turtlesim包中,Pose消息类型包含了一只海龟机器人的位置和朝向信息,具体包含以下内容:
- float32 x: 机器人在x轴上的位置
- float32 y: 机器人在y轴上的位置
- float32 theta: 机器人的朝向,即角度值
- float32 linear_velocity: 机器人的线速度
- float32 angular_velocity: 机器人的角速度
相关问题
ROS机器人turtlesim走直线的python示例代码
以下是ROS机器人turtlesim走直线的python示例代码:
```
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
def pose_callback(pose):
global x
x = pose.x
def move():
rospy.init_node('move_turtle', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
pose_subscriber = rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
vel_msg = Twist()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if x < 9:
vel_msg.linear.x = 1
vel_msg.angular.z =
else:
vel_msg.linear.x =
vel_msg.angular.z =
velocity_publisher.publish(vel_msg)
rate.sleep()
if __name__ == '__main__':
try:
move()
except rospy.ROSInterruptException:
pass
```
ROS2机器人turtlesim绘制圆形轨迹的Python代码
以下是绘制圆形轨迹的Python代码:
```
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
class TurtleSimCircle(Node):
def __init__(self):
super().__init__('turtle_sim_circle')
self.publisher_ = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)
self.subscription = self.create_subscription(Pose, 'turtle1/pose', self.listener_callback, 10)
self.subscription # prevent unused variable warning
def listener_callback(self, msg):
if msg.theta > :
angular_speed = -.5
else:
angular_speed = .5
linear_speed = 2
twist = Twist()
twist.linear.x = linear_speed
twist.angular.z = angular_speed
self.publisher_.publish(twist)
def main(args=None):
rclpy.init(args=args)
turtle_sim_circle = TurtleSimCircle()
rclpy.spin(turtle_sim_circle)
turtle_sim_circle.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
main()
```
这段代码可以让ROS2机器人turtlesim绘制圆形轨迹。
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