ROS机器人turtlesim绘制圆形轨迹的Python代码
时间: 2023-03-29 21:04:26 浏览: 107
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!
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