ROS机器人turtlesim走直线的简单示例代码
时间: 2023-03-31 12:00:44 浏览: 75
以下是ROS机器人turtlesim走直线的简单示例代码:
```
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtlesim_move");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 100);
ros::Rate rate(10);
while (ros::ok())
{
geometry_msgs::Twist msg;
msg.linear.x = 1.;
msg.angular.z = .;
pub.publish(msg);
rate.sleep();
}
return ;
}
```
相关问题
ROS机器人turtlesim走直线的示例代码
以下是ROS机器人turtlesim走直线的示例代码:
```
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
int main(int argc, char** argv)
{
ros::init(argc, argv, "turtlesim_line");
ros::NodeHandle nh;
ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("turtle1/cmd_vel", 100);
ros::Rate rate(10);
while(ros::ok())
{
geometry_msgs::Twist msg;
msg.linear.x = 1.;
msg.angular.z = .;
pub.publish(msg);
rate.sleep();
}
return ;
}
```
ROS机器人turtlesim走直线的python示例代码
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
```