如何在rospy获取小海龟实时坐标
时间: 2024-05-05 10:16:14 浏览: 29
要在rospy获取小海龟实时坐标,可以通过以下步骤:
1. 导入rospy和turtlesim库。
```python
import rospy
from turtlesim.msg import Pose
```
2. 初始化rospy节点。
```python
rospy.init_node('turtle_pose', anonymous=True)
```
3. 创建一个回调函数,当小海龟发布Pose消息时调用该函数。
```python
def pose_callback(pose):
x = pose.x
y = pose.y
theta = pose.theta
rospy.loginfo("Turtle Pose: x=%f, y=%f, theta=%f", x, y, theta)
```
4. 订阅小海龟的Pose消息。
```python
rospy.Subscriber("/turtle1/pose", Pose, pose_callback)
```
5. 运行rospy节点。
```python
rospy.spin()
```
当小海龟移动时,回调函数pose_callback将被调用,并打印小海龟的实时坐标信息。
相关问题
如何用rospy实现小海龟走正方形
您可以使用以下代码实现小海龟走正方形:
```python
import rospy
from geometry_msgs.msg import Twist
from turtlesim.msg import Pose
def move_square():
rospy.init_node('move_square', 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()
# Set the linear velocity in the x-axis
vel_msg.linear.x = 1
# Set the angular velocity in the z-axis
vel_msg.angular.z = 0
# Set the rate to 10 Hz
rate = rospy.Rate(10)
# Move the turtle in a square
for i in range(4):
# Move forward for 2 seconds (10 * 2 = 20 times)
for j in range(20):
velocity_publisher.publish(vel_msg)
rate.sleep()
# Stop the turtle for 1 second (10 * 1 = 10 times)
vel_msg.linear.x = 0
for j in range(10):
velocity_publisher.publish(vel_msg)
rate.sleep()
# Turn the turtle for 2 seconds (10 * 2 = 20 times)
vel_msg.linear.x = 0
vel_msg.angular.z = 1
for j in range(20):
velocity_publisher.publish(vel_msg)
rate.sleep()
# Stop the turtle for 1 second (10 * 1 = 10 times)
vel_msg.angular.z = 0
for j in range(10):
velocity_publisher.publish(vel_msg)
rate.sleep()
# Stop the turtle
vel_msg.linear.x = 0
velocity_publisher.publish(vel_msg)
def pose_callback(pose):
# Print the turtle's pose
rospy.loginfo("Turtle pose: x=%f, y=%f", pose.x, pose.y)
if __name__ == '__main__':
try:
move_square()
except rospy.ROSInterruptException:
pass
```
这个程序使用 rospy 发布和订阅 ROS 主题来控制小海龟的运动。在程序中,我们首先初始化节点并创建一个发布器和一个订阅器。然后,我们设置小海龟的线速度和角速度,并使用循环来让小海龟走正方形。在每个循环中,我们发布速度消息并等待一段时间,然后停止小海龟并等待一段时间,然后再旋转小海龟并等待一段时间。最后,我们停止小海龟并退出程序。
rospy中如何获得ros小海龟实时位置信息
要获取ROS小海龟的实时位置信息,你需要使用rospy中提供的订阅者(Subscriber)来订阅小海龟发布的位置信息消息。具体步骤如下:
1. 导入rospy模块和小海龟位置消息类型模块:
```
import rospy
from turtlesim.msg import Pose
```
2. 初始化ROS节点:
```
rospy.init_node('get_turtle_pose')
```
3. 创建一个订阅者,订阅小海龟的位置信息:
```
def callback(data):
# 在这里处理接收到的位置信息
pass
rospy.Subscriber('/turtle1/pose', Pose, callback)
```
其中,/turtle1/pose是小海龟位置信息的话题名,Pose是小海龟位置信息消息类型。
4. 在callback函数中处理接收到的位置信息,例如:
```
def callback(data):
x = data.x
y = data.y
theta = data.theta
rospy.loginfo("Turtle Pose: x=%f y=%f theta=%f", x, y, theta)
```
5. 最后,启动ROS节点:
```
rospy.spin()
```
完整的代码示例:
```
import rospy
from turtlesim.msg import Pose
def callback(data):
x = data.x
y = data.y
theta = data.theta
rospy.loginfo("Turtle Pose: x=%f y=%f theta=%f", x, y, theta)
rospy.init_node('get_turtle_pose')
rospy.Subscriber('/turtle1/pose', Pose, callback)
rospy.spin()
```
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