在小乌龟模拟器中使用键盘控制小乌龟画出一个爱心图形,
时间: 2024-04-30 19:23:59 浏览: 19
这是一个编程问题,您可以在小乌龟模拟器中使用Python代码控制小乌龟画出一个爱心图形。以下是示例代码:
```
import turtle
turtle.color('red', 'pink')
turtle.begin_fill()
turtle.left(140)
turtle.forward(180)
turtle.circle(-90, 200)
turtle.setheading(60)
turtle.circle(-90, 200)
turtle.forward(180)
turtle.end_fill()
turtle.mainloop()
```
请在Python环境中运行代码以查看结果。
相关问题
写一个小乌龟键盘控制节点
好的,下面是一个简单的小乌龟键盘控制节点示例代码:
```python
#!/usr/bin/env python
# -*- coding:utf-8 -*-
import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty
# 定义键盘输入操作
def getKey():
tty.setraw(sys.stdin.fileno())
select.select([sys.stdin], [], [], 0)
key = sys.stdin.read(1)
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
return key
# 初始化键盘操作参数
settings = termios.tcgetattr(sys.stdin)
def turtle_control():
# 初始化节点
rospy.init_node('turtle_keyboard_control_node', anonymous=True)
# 创建一个发布者,用来发布小乌龟的控制命令
cmd_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
# 设置控制命令的频率
rate = rospy.Rate(10) # 10hz
# 初始化控制命令
move_cmd = Twist()
move_cmd.linear.x = 0.0
move_cmd.angular.z = 0.0
# 循环发送控制命令
while not rospy.is_shutdown():
key = getKey()
if key == 'w':
move_cmd.linear.x = 0.5
elif key == 's':
move_cmd.linear.x = -0.5
elif key == 'a':
move_cmd.angular.z = 0.5
elif key == 'd':
move_cmd.angular.z = -0.5
elif key == 'q':
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
exit(0)
# 发布控制命令
cmd_vel_pub.publish(move_cmd)
# 重置控制命令
move_cmd.linear.x = 0.0
move_cmd.angular.z = 0.0
rate.sleep()
if __name__ == '__main__':
try:
turtle_control()
except rospy.ROSInterruptException:
pass
```
代码中使用了ROS(机器人操作系统)的相关内容,实现了通过键盘控制小乌龟的运动。在代码中,我们定义了一个getKey()函数,用来获取键盘输入的操作。然后,我们设置了一个控制命令的频率,这里设置为10hz。接着,我们在一个循环中获取键盘输入的操作,并根据不同的操作来设置小乌龟的控制命令。最后,我们在循环中不断发布控制命令,以使小乌龟根据键盘输入的操作运动。
ros小乌龟画图形c++代码
ROS是一个机器人操作系统,其中包括了一个用于创建机器人应用程序的框架。其中,小乌龟绘图是ROS中一个经典的入门例子。
以下是实现小乌龟画图形的C++代码:
```
#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Pose.h>
#include <iostream>
using namespace std;
const double PI = 3.14159265359;
double degree2radian(double degree)
{
return degree * PI / 180.0;
}
class Turtle
{
public:
Turtle()
{
// 初始化ROS节点
n = ros::NodeHandle();
// 订阅小乌龟的位置信息
pose_sub = n.subscribe("/turtle1/pose", 10, &Turtle::poseCallback, this);
// 发布小乌龟的速度信息
velocity_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
}
void move(double speed, double distance, bool isForward)
{
// 初始化速度消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = abs(speed);
if (isForward)
{
vel_msg.linear.x = abs(speed);
}
else
{
vel_msg.linear.x = -abs(speed);
}
vel_msg.linear.y = 0;
vel_msg.linear.z = 0;
vel_msg.angular.x = 0;
vel_msg.angular.y = 0;
vel_msg.angular.z = 0;
double t0 = ros::Time::now().toSec();
double current_distance = 0;
ros::Rate loop_rate(10);
while (current_distance < distance)
{
velocity_pub.publish(vel_msg);
double t1 = ros::Time::now().toSec();
current_distance = speed * (t1 - t0);
ros::spinOnce();
loop_rate.sleep();
}
// 停止小乌龟运动
vel_msg.linear.x = 0;
velocity_pub.publish(vel_msg);
}
void rotate(double angular_speed, double angle, bool clockwise)
{
// 初始化速度消息
geometry_msgs::Twist vel_msg;
vel_msg.linear.x = 0;
vel_msg.linear.y = 0;
vel_msg.linear.z = 0;
vel_msg.angular.x = 0;
vel_msg.angular.y = 0;
if (clockwise)
{
vel_msg.angular.z = -abs(angular_speed);
}
else
{
vel_msg.angular.z = abs(angular_speed);
}
double current_angle = 0.0;
double t0 = ros::Time::now().toSec();
ros::Rate loop_rate(10);
while (current_angle < angle)
{
velocity_pub.publish(vel_msg);
double t1 = ros::Time::now().toSec();
current_angle = angular_speed * (t1 - t0);
ros::spinOnce();
loop_rate.sleep();
}
// 停止小乌龟旋转
vel_msg.angular.z = 0;
velocity_pub.publish(vel_msg);
}
void poseCallback(const turtlesim::Pose::ConstPtr &pose_msg)
{
this->pose = *pose_msg;
}
private:
ros::NodeHandle n;
ros::Publisher velocity_pub;
ros::Subscriber pose_sub;
turtlesim::Pose pose;
};
int main(int argc, char **argv)
{
// 初始化ROS节点
ros::init(argc, argv, "turtle");
Turtle turtle;
double speed, angular_speed;
double distance, angle;
bool isForward, clockwise;
cout << "请输入线速度:";
cin >> speed;
cout << "请输入角速度:";
cin >> angular_speed;
cout << "请输入距离:";
cin >> distance;
cout << "是否前进?(1为前进,0为后退):";
cin >> isForward;
cout << "请输入旋转角度:";
cin >> angle;
cout << "是否顺时针旋转?(1为顺时针,0为逆时针):";
cin >> clockwise;
turtle.move(speed, distance, isForward);
turtle.rotate(degree2radian(angular_speed), degree2radian(angle), clockwise);
// 输出小乌龟的位置信息
ROS_INFO("Turtle position: (%.2f, %.2f)", turtle.pose.x, turtle.pose.y);
ROS_INFO("Turtle orientation: %.2f", turtle.pose.theta);
return 0;
}
```