ros2 python 小乌龟矩形运动

在ROS2中，使用Python控制名为turtlesim的小乌龟绘制矩形，你可以借助turtlesim包提供的geometry_msgs/Twist消息来发送移动命令。以下是关键步骤的代码示例：

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import Twist  # 导入控制消息
class TurtleSquareNode(Node):
    def init(self):
        super().init('turtle_square')  # 初始化节点
        self.publisher_ = self.create_publisher(Twist, 'turtle1/cmd_vel', 10)  # 创建发布器，turtle1可能是你的小乌龟名字
def move_forward(self, distance):
    msg = Twist()
    msg.linear.x = distance
    msg.linear.y = 0
    msg.angular.z = 0
    self.publisher_.publish(msg)
    self.get_logger().info(f"Moving forward {distance}.")

def turn(self, angle):
    msg = Twist()
    msg.linear.x = 0
    msg.linear.y = 0
    msg.angular.z = angle
    self.publisher_.publish(msg)
    self.get_logger().info(f"Turning by {angle} degrees.")

def draw_rectangle(self, width, height):
    for _ in range(2):  # 上下两条边
        self.move_forward(width)
        self.turn(90)  # 右转90度
    for _ in range(2):  # 左右两条边
        self.move_forward(height)
        self.turn(-90)  # 左转90度
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def main(args=None):
    rclpy.init(args=args)
    turtle_node = TurtleSquareNode()
try:
    width = float(input("Enter the rectangle width: "))
    height = float(input("Enter the rectangle height: "))
    turtle_node.draw_rectangle(width, height)
except KeyboardInterrupt:
    pass  # 捕获Ctrl+C，确保优雅退出

turtle_node.destroy_node()  # 销毁节点
rclpy.shutdown()
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if name == 'main':
    main()