ROS机器人turtlesim绘制心形轨迹的Python代码

以下是绘制心形轨迹的Python代码：

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi, sin, cos

def draw_heart():
    rospy.init_node('draw_heart', anonymous=True)
    pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    rate = rospy.Rate(10)

    vel = Twist()
    t = 
    while not rospy.is_shutdown():
        vel.linear.x = 6 * (sin(t) ** 3)
        vel.linear.y = 
        vel.linear.z = 
        vel.angular.x = 
        vel.angular.y = 
        vel.angular.z = 6 * (cos(t) ** 2) * sin(t)
        pub.publish(vel)
        t += .1
        rate.sleep()

if __name__ == '__main__':
    try:
        draw_heart()
    except rospy.ROSInterruptException:
        pass

希望对你有帮助！