ROS机器人turtlesim走玫瑰线的简单python示例代码

以下是ROS机器人turtlesim走玫瑰线的简单python示例代码：

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import sin, cos, pi

def rose_pattern(t):
    x = sin(2*pi*t)*cos(t)
    y = sin(2*pi*t)*sin(t)
    return (x, y)

def move_turtle():
    rospy.init_node('turtle_move', anonymous=True)
    velocity_publisher = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
    vel_msg = Twist()

    rate = rospy.Rate(10)

    t = 
    while not rospy.is_shutdown():
        x, y = rose_pattern(t)
        vel_msg.linear.x = x
        vel_msg.angular.z = y
        velocity_publisher.publish(vel_msg)
        t += .1
        rate.sleep()

if __name__ == '__main__':
    try:
        move_turtle()
    except rospy.ROSInterruptException:
        pass

希望对你有帮助！