ROS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：

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

def draw_circle():
    # 初始化ROS节点
    rospy.init_node('draw_circle', anonymous=True)
    # 创建一个发布者，发布Twist消息到/cmd_vel话题
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    # 设置循环频率
    rate = rospy.Rate(10)
    # 创建Twist消息对象
    vel = Twist()
    # 设置线速度
    vel.linear.x = .5
    # 设置角速度
    vel.angular.z = 2*pi/10
    # 计算绘制圆形轨迹所需的时间
    t = 2*pi/vel.angular.z
    # 记录开始时间
    start_time = rospy.Time.now().to_sec()
    while not rospy.is_shutdown():
        # 发布Twist消息
        pub.publish(vel)
        # 计算已经绘制的时间
        elapsed_time = rospy.Time.now().to_sec() - start_time
        # 如果已经绘制了一个圆，停止运动
        if elapsed_time > t:
            break
        # 按照循环频率休眠
        rate.sleep()
    # 停止运动
    vel.linear.x = 
    vel.angular.z = 
    pub.publish(vel)

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

希望对你有帮助！