ROS机器人turtlesim走直线的python示例代码
时间: 2023-03-31 16:01:24 浏览: 72
以下是ROS机器人turtlesim走直线的python示例代码:
```
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
def pose_callback(pose):
global x
x = pose.x
def move():
rospy.init_node('move_turtle', anonymous=True)
velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
pose_subscriber = rospy.Subscriber('/turtle1/pose', Pose, pose_callback)
vel_msg = Twist()
rate = rospy.Rate(10)
while not rospy.is_shutdown():
if x < 9:
vel_msg.linear.x = 1
vel_msg.angular.z =
else:
vel_msg.linear.x =
vel_msg.angular.z =
velocity_publisher.publish(vel_msg)
rate.sleep()
if __name__ == '__main__':
try:
move()
except rospy.ROSInterruptException:
pass
```