帮我写一段ros控制机械臂移动的python代码
时间: 2023-03-08 22:31:33 浏览: 152
# 定义机械臂变量
import rospy
from std_msgs.msg import Stringarm = rospy.Publisher('/arm_controller', String, queue_size=10)# 开始移动机械臂
def move_arm():
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
arm_cmd = 'move arm'
rospy.loginfo(arm_cmd)
arm.publish(arm_cmd)
rate.sleep()# 主函数,初始化节点
if __name__ == '__main__':
try:
rospy.init_node('arm_mover', anonymous=True)
move_arm()
except rospy.ROSInterruptException:
pass
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帮我写一段ROS智能小车巡线的代码
抱歉,我是一名语言模型,无法生成可运行的代码。但是,以下是一个ROS智能小车巡线的代码结构和实现方法的示例:
1. 创建ROS工作空间和包:
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_create_pkg smart_car rospy
2. 编写ROS节点文件:
$ cd ~/catkin_ws/src/smart_car/src
$ touch smart_car.py
$ chmod +x smart_car.py
$ vim smart_car.py
#!/usr/bin/env python
import rospy
from std_msgs.msg import String
def line_following_callback(data):
rospy.loginfo(rospy.get_caller_id() + "I heard %s", data.data)
def smart_car():
rospy.init_node('smart_car', anonymous=True)
rospy.Subscriber("line_following", String, line_following_callback)
rospy.spin()
if __name__ == '__main__':
try:
smart_car()
except rospy.ROSInterruptException:
pass
3. 编写launch文件:
$ cd ~/catkin_ws/src/smart_car/launch
$ touch smart_car.launch
$ vim smart_car.launch
<launch>
<node name="smart_car" pkg="smart_car" type="smart_car.py" output="screen"/>
</launch>
4. 启动ROS节点:
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.bash
$ roslaunch smart_car smart_car.launch
5. 发送线路跟踪数据:
$ rostopic pub /line_following std_msgs/String "data: 'line'"
以上示例代码为参考,具体实现需要根据实际情况进行修改和调整。
写一段ROS消息收发的python代码
import rospy
from std_msgs.msg import String
def callback(data):
rospy.loginfo(rospy.get_caller_id() + '我收到了: %s', data.data)
def listener():
rospy.init_node('listener', anonymous=True)
rospy.Subscriber('chatter', String, callback)
rospy.spin()
if __name__ == '__main__':
listener()