更正这个Python代码使他可以在ros20.04里面发布消息#!/usr/bin/env python3 #coding=utf-8 import rospy import rospkg from quadrotor_msgs.msg import PositionCommand from nav_msgs.msg import Odometry from sensor_msgs.msg import Joy from mavros_msgs.msg import AttitudeTarget from tf.transformations import euler_from_quaternion import math rospy.init_node('traj_pub') local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10) poscom = PositionCommand() rate = rospy.Rate(20.0) i = 0 while not rospy.is_shutdown(): poscom.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.position.y = 5 * math.sin(math.pi * i / 800) poscom.position.z = 2 poscom.velocity.x = 0 poscom.velocity.y = 0 poscom.velocity.z = 0 poscom.acceleration.x = 0 poscom.acceleration.y = 0 poscom.acceleration.z = 0 poscom.yaw = 0 poscom.jerk.x = 0 poscom.jerk.y = 0 poscom.jerk.z = 0 local_pos_pub3.publish(poscom) # Uncomment the following code to publish attitude target message # msg = AttitudeTarget() # q = tf.transformations.quaternion_from_euler(0, 0, 0.5) # msg.type_mask = msg.IGNORE_ROLL_RATE | msg.IGNORE_PITCH_RATE | msg.IGNORE_YAW_RATE # msg.orientation.x = q[0] # msg.orientation.y = q[1] # msg.orientation.z = q[2] # msg.orientation.w = q[3] # msg.thrust = 0.75 # local_pos_pub3.publish(msg) rate.sleep() i += 1

此代码需要在ROS环境下运行，并且需要安装以下依赖项：

1. quadrotor_msgs
2. nav_msgs
3. sensor_msgs
4. mavros_msgs

您可以通过以下命令安装这些依赖项：

sudo apt-get install ros-<distro>-quadrotor-msgs
sudo apt-get install ros-<distro>-nav-msgs
sudo apt-get install ros-<distro>-sensor-msgs
sudo apt-get install ros-<distro>-mavros-msgs

在安装完依赖项后，您可以尝试以下更改以使其在ROS 20.04中运行：

#!/usr/bin/env python3
#coding=utf-8

import rospy
from quadrotor_msgs.msg import PositionCommand
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Joy
from mavros_msgs.msg import AttitudeTarget
from tf.transformations import euler_from_quaternion
import math

rospy.init_node('traj_pub')
local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10)
poscom = PositionCommand()
rate = rospy.Rate(20.0)
i = 0

while not rospy.is_shutdown():
    poscom.header.stamp = rospy.Time.now()
    poscom.header.frame_id = "world"
    poscom.position.x = 2.5 * math.sin(math.pi * i / 400)
    poscom.position.y = 5 * math.sin(math.pi * i / 800)
    poscom.position.z = 2
    poscom.velocity.x = 0
    poscom.velocity.y = 0
    poscom.velocity.z = 0
    poscom.acceleration.x = 0
    poscom.acceleration.y = 0
    poscom.acceleration.z = 0
    poscom.yaw = 0
    poscom.yaw_dot = 0
    poscom.jerk.x = 0
    poscom.jerk.y = 0
    poscom.jerk.z = 0
    local_pos_pub3.publish(poscom)
    rate.sleep()
    i += 1

此代码将发布一个有关位置命令的ROS消息，并使用ROS标准时间戳。如果您想要发布姿态目标消息，您可以取消代码中的注释并使用正确的消息类型和参数。