ROS测试小乌龟的程序
时间: 2023-05-31 07:03:15 浏览: 85
下面是一份ROS测试小乌龟的Python程序:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
class TurtleController:
def __init__(self):
rospy.init_node('turtle_controller', anonymous=True)
rospy.Subscriber('/turtle1/pose', Pose, self.pose_callback)
self.velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
self.pose = Pose()
self.rate = rospy.Rate(10)
def pose_callback(self, data):
self.pose = data
def move(self, linear_velocity, angular_velocity):
velocity_msg = Twist()
velocity_msg.linear.x = linear_velocity
velocity_msg.angular.z = angular_velocity
self.velocity_publisher.publish(velocity_msg)
def run(self):
while not rospy.is_shutdown():
# move forward for 1 second
self.move(1.0, 0.0)
rospy.sleep(1.0)
# turn right for 1 second
self.move(0.0, -1.0)
rospy.sleep(1.0)
if __name__ == '__main__':
try:
turtle_controller = TurtleController()
turtle_controller.run()
except rospy.ROSInterruptException:
pass
```
这个程序会让小乌龟先向前移动1秒钟,然后向右转1秒钟,然后不断重复这个过程。在程序中,我们订阅了小乌龟的位置信息,以便了解它的姿态状态。然后我们定义了一个`move`函数,它会向小乌龟发送速度消息,让它移动。最后我们在`run`函数中使用这个`move`函数来控制小乌龟的运动。