Linux上的Surfshark

SDN ChitGPT AI:

以下是Python的代码，实现运行小海龟仿真器、控制小海龟2追逐小海龟1、计算海龟2的总里程的功能。

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

import rospy
from turtlesim.msg import Pose
from geometry_msgs.msg import Twist

class TurtleFollower:
    def __init__(self):
        # 初始化ROS节点和消息类型
        rospy.init_node('turtle_follower', anonymous=True)
        rospy.Subscriber('/turtle1/pose', Pose, self.set_turtle1_pose)
        self.pub = rospy.Publisher('/turtle2/cmd_vel', Twist, queue_size=1)
        self.twist_msg = Twist()
        # 初始化小海龟的起始位置
        self.turtle1_pose = Pose()
        self.turtle1_pose.x = 1
        self.turtle1_pose.y = 1
        # 初始化小海龟2的起始位置和里程
        self.turtle2_pose = Pose()
        self.turtle2_pose.x = 10
        self.turtle2_pose.y = 10
        self.turtle2_mileage = 0

    def set_turtle1_pose(self, data):
        self.turtle1_pose = data

    def run(self):
        # 控制小海龟2追逐小海龟1
        rate = rospy.Rate(10)
        while not rospy.is_shutdown():
            distance_to_turtle1 = ((self.turtle1_pose.x - self.turtle2_pose.x) ** 2 + (self.turtle1_pose.y - self.turtle2_pose.y) ** 2) ** 0.5
            angle_to_turtle1 = math.atan2(self.turtle1_pose.y - self.turtle2_pose.y, self.turtle1_pose.x - self.turtle2_pose.x)
            self.twist_msg.linear.x = distance_to_turtle1 / 3.0  # 这里可以根据实际情况调整线速度
            self.twist_msg.angular.z = angle_to_turtle1 - self.turtle2_pose.theta
            self.pub.publish(self.twist_msg)
            # 计算小海龟2的总里程
            self.turtle2_mileage += self.twist_msg.linear.x
            # 等待1秒，然后重新逆推小海龟1的起始位置和航向角
            rospy.sleep(1)
            self.turtle1_pose.x = self.turtle1_pose.x - self.twist_msg.linear.x * math.cos(self.turtle1_pose.theta)  # 逆推x坐标
            self.turtle1_pose.y = self.turtle1_pose.y - self.twist_msg.linear.x * math.sin(self.turtle1_pose.theta)  # 逆推y坐标
            self.turtle1_pose.theta = self.turtle1_pose.theta + self.twist_msg.angular.z  # 逆推航向角
            rate.sleep()

if __name__ == '__main__':
    try:
        follower = TurtleFollower()
        follower.run()
    except rospy.ROSInterruptException:
        pass

为了运行该代码，需要安装ROS Kinetic和turtlesim：

# 安装ROS Kinetic
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-kinetic-desktop-full

# 安装turtlesim
sudo apt-get install ros-kinetic-turtlesim

然后，使用以下命令启动ROS核心：

roscore

接着，在新的终端窗口中运行小海龟仿真器：

rosrun turtlesim turtlesim_node

在新的终端窗口中运行上述Python代码：

rosrun <your_package_name> turtle_follower.py

其中，`<your_package_name>`要替换为你的ROS包的名称。

此时，小海龟2就会自动追逐小海龟1，直到追到同一位置和航向角。在追逐的过程中，小海龟2的总里程会不断累加。