poscom.twist.velocity.x = 0 这段代码出现下列错误怎么结局File "/home/ros/catkin_ctr/src/jiangluo/scripts/eight_zi.py", line 28, in <module> poscom.twist.velocity.x = 0 #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, AttributeError: 'PoseStamped' object has no attribute 'twist
时间: 2024-03-26 18:41:06 浏览: 14
这个错误是因为`PoseStamped`对象没有`twist`属性。如果你想设置位置控制消息的速度为0,你需要使用`TwistStamped`消息类型来代替`PoseStamped`。你可以将代码修改为:
```
poscom_twist = TwistStamped()
poscom_twist.twist.linear.x = 0
poscom.header.stamp = rospy.Time.now()
poscom.header.frame_id = "base_link"
poscom.twist = poscom_twist.twist
```
这样就可以将`x`方向的速度设置为0了。请确保你在使用`TwistStamped`消息之前导入了它,例如:
```
from geometry_msgs.msg import TwistStamped
```
相关问题
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)
根据你的描述,需要将代码中的 `poscom = PositionCommand()` 改为 `poscom = PoseStamped()`,并且需要添加对 `local_pos_pub4` 的定义。下面是更正后的代码:
```python
local_pos_pub3 = rospy.Publisher('mavros/setpoint_position/local', PoseStamped, queue_size=10)
local_pos_pub4 = rospy.Publisher('topic_name', TwistStamped, queue_size=10) # 定义 local_pos_pub4
poscom = PoseStamped() # 改为 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)
i += 1
rate.sleep()
```
注意,`local_pos_pub4` 的定义语句中的 `topic_name` 需要替换成实际的话题名称。
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'
看起来你的问题和之前的问题是一样的。你正在使用 `PoseStamped` 对象 `poscom`,但是你又尝试给它添加一个名为 `twist` 的属性,这个属性在 `PoseStamped` 类型中是不存在的。因此,你需要使用包含 `twist` 属性的消息类型,比如 `geometry_msgs/TwistStamped`。
你可以创建一个 `geometry_msgs/TwistStamped` 对象,将其命名为 `poscom_twist`,然后设置它的 `twist` 属性,最后将其发布出去。这样,你就可以将机器人的位置和速度信息分别封装在不同的消息中,并发布它们。
修改后的代码应该类似于以下代码:
```
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_pub3.publish(poscom_twist)
```
希望这可以帮助你解决问题。
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