ros中写一个发布一条由任意多个点确定一条贝塞尔曲线的python代码
时间: 2024-05-09 18:18:00 浏览: 16
很高兴回答你的问题。以下是发布一条由任意多个点确定一条贝塞尔曲线的Python代码:
```python
import rospy
from nav_msgs.msg import Path
from geometry_msgs.msg import PoseStamped
from scipy.special import binom
def bezier_curve(points, n_points=100):
n = len(points) - 1
curve = []
for t in range(n_points):
p = [0, 0]
for i in range(n + 1):
b = binom(n, i) * (1 - t / float(n_points - 1))**(n - i) * (t / float(n_points - 1))**i
p[0] += points[i][0] * b
p[1] += points[i][1] * b
curve.append(p)
return curve
def path_publisher():
rospy.init_node('path_publisher', anonymous=True)
path_pub = rospy.Publisher('path', Path, queue_size=10)
rate = rospy.Rate(10) # Hz
while not rospy.is_shutdown():
points = [[1, 1], [2, 5], [5, 7], [7, 5], [8, 2]]
curve = bezier_curve(points)
path = Path()
path.header.frame_id = 'map'
for p in curve:
pose = PoseStamped()
pose.pose.position.x = p[0]
pose.pose.position.y = p[1]
path.poses.append(pose)
path_pub.publish(path)
rate.sleep()
if __name__ == '__main__':
try:
path_publisher()
except rospy.ROSInterruptException:
pass
```
希望能够帮到你!如果你有其它问题,欢迎继续提问。