将下面Python代码更正while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" #，在这段代码中，"world"表示机器人运动的参考坐标系是世界坐标系。 poscom.pose.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.pose.position.y = 5 * math.sin(math.pi * i / 800) poscom.pose.position.z = 2 poscom_twist = TwistStamped() poscom_twist.twist.linear.x = 0 poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "base_link" #设置位置控制消息（poscom）的时间戳和坐标系，计算x、y方向的位置， poscom.twist.velocity.y = 0 #其中x方向的位置是一个正弦函数，i是一个计数器， poscom.twist.velocity.z = 0 #每次循环i加1，设置位置控制消息的速度、加速度、偏航角和加加速度， poscom.twist.acceleration.x = 0 poscom.twist.acceleration.y = 0 #发布位置控制消息，发布到名为local_pos_pub3的话题上。 poscom.twist.acceleration.z = 0 poscom.yaw = 0 poscom.jerk.x = 0 poscom.jerk.y = 0 poscom.jerk.z = 0 local_pos_pub3.publish(poscom)

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()这段代码中节点、话题、消息分别是什么

这段代码中，节点是通过rospy.init_node('traj_pub')创建的，名为traj_pub。节点是ROS中的一个基本概念，代表着一个运行在计算机上的进程，它可以发布/订阅话题、提供/调用服务、执行行为等。在这段代码中，节点...

将下列Python代码更正local_pos_pub3 = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10) # poscom = PoseStamped() #消息类型PositionCommand() 改成PoseStamped() rate = rospy.Rate(20.0) i = 0 while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" poscom.pose.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.pose.position.y = 5 * math.sin(math.pi * i / 800) poscom.pose.position.z = 2 poscom_twist = TwistStamped() poscom_twist.header.stamp = rospy.Time.now() poscom_twist.header.frame_id = "base_link" poscom_twist.twist.linear.x = 0 poscom_twist.twist.linear.y = 0 poscom_twist.twist.linear.z = 0 poscom_twist.twist.angular.x = 0 poscom_twist.twist.angular.y = 0 poscom_twist.twist.angular.z = 0 local_pos_pub3.publish(poscom) local_pos_pub4.publish(poscom_twist)

while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" poscom.pose.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.pose.position.y = 5 * math....

注释下面Python代码hile 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.jerk.x = 0 poscom.jerk.y = 0 poscom.jerk.z = 0 local_pos_pub3.publish(poscom) 、

这是一段Python代码，使用了ROS（机器人操作系统）的rospy库实现了一个循环，当ROS节点没有被关闭时，会不断执行以下代码块： - 设置位置控制消息（poscom）的时间戳和坐标系 - 计算x、y方向的位置，其中x方向的...

更正这个Python代码import rospy from mavros_msgs.msg import State from mavros_msgs.srv import CommandBool, SetMode from geometry_msgs.msg import PoseStamped import time current_state = State() def state_cb(msg): global current_state current_state = msg rospy.init_node('position') rate = rospy.Rate(20.0) state_sub = rospy.Subscriber("mavros/state", State, state_cb) local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10) arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode) wait for FCU connection while not rospy.is_shutdown() and not current_state.connected: rate.sleep() pose = PoseStamped() pose.pose.position.x = 0 pose.pose.position.y = 0 pose.pose.position.z = 1.5 offb_set_mode = SetMode() offb_set_mode.custom_mode = "OFFBOARD" arm_cmd = CommandBool() arm_cmd.value = True state = 3 last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): if not current_state.armed: if arming_client(arm_cmd) and arm_cmd.response.success: rospy.loginfo("Vehicle armed") if current_state.mode != "OFFBOARD": if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("Offboard enabled") rate.sleep() while state > 0: last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 0 pose.pose.position.y = 0 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS0") rate.sleep() last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 2 pose.pose.position.y = 2 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS1") rate.sleep() state -= 1 rospy.loginfo("state=" + str(state)) offb_set_mode.custom_mode = "AUTO.LAND" if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("AUTO.LAND enabled") last_request = rospy.Time.now() rospy.spin()

这段 Python 代码主要是控制飞行器执行一定的动作。代码中，首先通过导入 rospy、mavros_msgs.msg、mavros_msgs.srv、geometry_msgs.msg 等模块，定义了一些变量和函数。然后，在 while 循环中，程序会等待与飞控...

根据下面的Python代码编写对应的订阅这代码#!/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

好的，根据您的要求，以下是一段Python代码，用于订阅quadrotor机器人的Odometry话题和Joy话题： python import rospy from nav_msgs.msg import Odometry from sensor_msgs.msg import Joy # 回调函数，接收到...

while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" # 机器人运动的参考坐标系是世界坐标系 poscom.pose.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.pose.position.y = 5 * math.sin(math.pi * i / 800) poscom.pose.position.z = 2 # 设置位置控制消息的时间戳和坐标系 poscom_twist = TwistStamped() poscom_twist.twist.linear.x = 0 poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "base_link" # 设置位置控制消息的速度、加速度、偏航角和加加速度 poscom.twist.linear.y = 0 poscom.twist.linear.z = 0 poscom.twist.angular.x = 0 poscom.twist.angular.y = 0 poscom.twist.angular.z = 0 poscom.twist.angular.w = 0 # 发布位置控制消息 local_pos_pub3.publish(poscom) 更正后代码出现下列错误poscom.twist.linear.y = 0 AttributeError: 'PoseStamped' object has no attribute 'twist'

while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" poscom.pose.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.pose.position.y = 5 * math....

while not rospy.is_shutdown():和if name == 'main':有什么区别

while not rospy.is_shutdown(): 和 if __name__ == '__main__': 是完全不同的概念。 while not rospy.is_shutdown(): 是一个循环语句，它会一直执行直到 ROS 节点被关闭。这个循环通常用在 ROS 节点的主程序...

import rospy from std_msgs.msg import String def talker(): pub = rospy.Publisher('chatter', String, queue_size=10) rospy.init_node('talker', anonymous=True) rate = rospy.Rate(10) # 10hz while not rospy.is_shutdown(): hello_str = "hello world %s" % rospy.get_time() rospy.loginfo(hello_str) pub.publish(hello_str) rate.sleep() if name == 'main': try: talker() except rospy.ROSInterruptException: pass详细注释一下

while not rospy.is_shutdown(): # 循环执行，直到节点关闭 hello_str = "hello world %s" % rospy.get_time() # 拼接一个字符串消息，包含当前时间 rospy.loginfo(hello_str) # 将消息打印到终端并记录到ROS日志...

#!/usr/bin/env python import rospy from std_msgs. msg import String def talker(): rospy. init_node('talker_1', anonymous=True) pub =rospy.publisher('chatter',String,queue_size =10) rate =rospy.Rate(10) while not rospy.is_shutdown(): hello_str ="Hello ROS" rospy.loginfo(hello_str) pub.publish(hello_str) rate.sleep() if_name_ = ='_main_': try: talker() except rospy.ROSInterruptException: pass

while not rospy.is_shutdown(): hello_str = "Hello ROS" rospy.loginfo(hello_str) pub.publish(hello_str) rate.sleep() if __name__ == '__main__': try: talker() except rospy.ROSInterruptException...

#!/usr/bin/env pythonimport rospyfrom mavros_msgs.msg import OverrideRCIndef set_pwm(pwm): msg = OverrideRCIn() msg.channels[8] = pwm # channel 9对应的mavros通道为8 pub.publish(msg)if name == 'main': rospy.init_node('set_pwm_node') pub = rospy.Publisher('/mavros/rc/override', OverrideRCIn, queue_size=10) rate = rospy.Rate(10) # 发布频率为10Hz while not rospy.is_shutdown(): set_pwm(1500) # 设置PWM值为1500us rate.sleep()

根据你提供的代码，可以看到这是一个Python脚本，用于控制舵机的PWM值。代码中使用了mavros的OverrideRCIn消息类型，将PWM值通过ROS的消息发布功能发送到mavros节点。具体来说，代码中通过set_pwm函数设置舵机的...

if name=='main': rospy.init_node('encoder_vel', log_level=rospy.DEBUG) pub = rospy.Publisher('encoder', Odometry, queue_size=10) port = rospy.get_param('~serial_port', '/dev/encoder') baud = rospy.get_param('~baud_rate', 57600) # about 100hz k = rospy.get_param('~k',1) # fix param ser = serial.Serial(port, baud) print(ser.is_open) while( not rospy.is_shutdown()): # time1 = time.time() send_data = bytes.fromhex('01 03 00 03 00 01 74 0A') # read velocity value in 20ms ser.write(send_data) datahex = ser.read(7) angle_v = DueVelData(datahex) send_data = bytes.fromhex('01 03 00 00 00 01 84 0A') # ser.write(send_data) datahex = ser.read(7) dir = DueDirData(datahex) Vel = angle_v * dir * C / 1024.0 / 0.02 * k # print(Vel) # time2 = time.time() # print(1/(time2-time1)) pub_vel = Odometry() pub_vel.header.frame_id = 'odom' pub_vel.child_frame_id = 'base_footprint' pub_vel.header.stamp = rospy.Time.now() pub_vel.twist.twist.linear.x = Vel pub.publish(pub_vel)

这段代码是一个Python程序的主函数，它首先通过调用rospy.init_node()函数初始化ROS节点，并创建一个名为'encoder_vel'的节点。接着，它使用rospy.Publisher()函数创建一个名为'encoder'的消息发布者，用于发布...

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

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...

我刚才所说的Python文件代码如下，你能再仔细说一遍要进行修改的内容吗：#! /usr/bin/env python import rospy from guidance_navigation_control.msg import controlCommand from guidance_navigation_control.msg import sensorInfo_actuatorStatus def gnc_data(gnc_data): print (gnc_data) while True: rospy.init_node('SENSORS_ACTUATORS') sensorActuator_pub = rospy.Publisher('sensorInfo_actuatorStatus', sensorInfo_actuatorStatus, queue_size=10) rospy.Subscriber('controlCommand', controlCommand, gnc_data) rate = rospy.Rate(10) final_message = sensorInfo_actuatorStatus() while not rospy.is_shutdown(): final_message.yaw_current = 17 final_message.depth_current = 21 final_message.temperature = 72 final_message.thruster_values[0] = 1600 final_message.thruster_values[1] = 1300 final_message.thruster_values[2] = 1700 final_message.thruster_values[3] = 1200 final_message.thruster_values[4] = 1500 final_message.thruster_values[5] = 1800 final_message.stabilized = True sensorActuator_pub.publish(final_message) rate.sleep() else: exit()

while not rospy.is_shutdown(): final_message.thruster_values = [1600, 1300, 1700, 1200, 1500, 1800] final_message.stabilized = True sensorActuator_pub.publish(final_message) rate.sleep() else: ...

将C++#include <ros/ros.h> #include <ros/package.h> #include <quadrotor_msgs/PositionCommand.h> #include #include <sensor_msgs/Joy.h> #include<mavros_msgs/AttitudeTarget.h> #include <tf/tf.h> #include <math.h> using namespace std; int main(int argc, char **argv) { ros::init(argc, argv, "traj_pub"); //##节点名traj_pub ros::NodeHandle nh; // ros::Publisher local_pos_pub3 = nh.advertise<quadrotor_msgs::PositionCommand> ("/position_cmd", 10); //##话题名字为/——position_cmd 10为缓存长度 quadrotor_msgs::PositionCommand poscom; //ros::Publisher local_pos_pub3 = nh.advertise<mavros_msgs::AttitudeTarget> // ("/mavros/setpoint_raw/attitude", 10); //mavros_msgs::AttitudeTarget msg; ros::Rate rate(20.0); //##循环频率20 int i = 0; while(ros::ok()) { poscom.position.x = 2.5sin(M_PIi/400); poscom.position.y = 5sin(M_PIi/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); // tf::Quaternion q = tf::createQuaternionFromRPY(0, 0, 0.5); // msg.type_mask = msg.IGNORE_ROLL_RATE || msg.IGNORE_PITCH_RATE || msg.IGNORE_YAW_RATE; // msg.orientation.x = q.x(); // msg.orientation.y = q.y(); // msg.orientation.z = q.z(); // msg.orientation.w = q.w(); // msg.thrust = 0.75; // local_pos_pub3.publish(msg); ros::spinOnce(); rate.sleep(); i++; } } 转成pyrhon

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....

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