在ros中用turtlesim画一个标准的正五角星的python代码
时间: 2024-05-15 18:14:34 浏览: 9
以下是使用Python编写的在ROS中使用turtlesim画标准正五角星的代码:
```python
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi
def rotate(turtle, angular_speed, relative_angle, clockwise):
vel_msg = Twist()
# Set the angular velocity
vel_msg.angular.z = abs(angular_speed) if clockwise else -abs(angular_speed)
# Set the relative angle and calculate the time needed for rotation
angle = relative_angle * pi / 180
t0 = rospy.Time.now().to_sec()
current_angle = 0
# Loop until the robot has rotated to the desired angle
while current_angle < angle:
turtle.publish(vel_msg) # Publish the velocity message to the turtle
t1 = rospy.Time.now().to_sec()
current_angle = angular_speed * (t1 - t0)
# Stop the turtle after the rotation is complete
vel_msg.angular.z = 0
turtle.publish(vel_msg)
def move(turtle, speed, distance, is_forward):
vel_msg = Twist()
# Set the linear velocity
vel_msg.linear.x = abs(speed) if is_forward else -abs(speed)
# Set the distance and calculate the time needed for the movement
t0 = rospy.Time.now().to_sec()
current_distance = 0
# Loop until the robot has moved the desired distance
while current_distance < distance:
turtle.publish(vel_msg) # Publish the velocity message to the turtle
t1 = rospy.Time.now().to_sec()
current_distance = speed * (t1 - t0)
# Stop the turtle after the movement is complete
vel_msg.linear.x = 0
turtle.publish(vel_msg)
def draw_star(turtle):
rospy.init_node('draw_star', anonymous=True)
# Set the parameters for drawing the star
size = 3
angle = 36
# Draw the star
for i in range(5):
move(turtle, size, size, True)
rotate(turtle, pi / angle, 72, True)
# Exit the program
rospy.spin()
if __name__ == '__main__':
try:
turtle = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
draw_star(turtle)
except rospy.ROSInterruptException:
pass
```
这个程序中,我们使用了两个函数来让乌龟移动和旋转,然后使用这些函数来绘制一个标准正五角星。在绘制正五角星时,我们使用五个等边三角形来拼接成一个五角星形状。这里我们提供的绘制程序可能与其他绘制程序不同,因此可能需要适当调整以获得所需的正五角星形状。