ros导航机器人模型代码

以下是一个简单的ROS导航机器人模型代码，可以作为参考：

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist
from nav_msgs.msg import Odometry
from sensor_msgs.msg import LaserScan
import tf
import math

class Robot:
    def __init__(self):
        rospy.init_node('robot_navigation')
        self.odom_sub = rospy.Subscriber('/odom', Odometry, self.odom_callback)
        self.scan_sub = rospy.Subscriber('/scan', LaserScan, self.scan_callback)
        self.cmd_vel_pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
        self.tf_listener = tf.TransformListener()

        self.rate = rospy.Rate(10)
        self.cmd_vel = Twist()

        self.goal_x = 2.0
        self.goal_y = 2.0
        self.goal_tolerance = 0.1
        self.distance_tolerance = 0.5
        self.angle_tolerance = 0.1

    def odom_callback(self, msg):
        try:
            (trans, rot) = self.tf_listener.lookupTransform('/map', '/base_link', rospy.Time(0))
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
            return

        current_x = trans[0]
        current_y = trans[1]
        current_yaw = tf.transformations.euler_from_quaternion(rot)[2]

        distance_to_goal = math.sqrt((self.goal_x - current_x)**2 + (self.goal_y - current_y)**2)

        if distance_to_goal < self.goal_tolerance:
            self.cmd_vel.linear.x = 0.0
            self.cmd_vel.angular.z = 0.0
            self.cmd_vel_pub.publish(self.cmd_vel)
            rospy.loginfo('Goal reached!')
            rospy.signal_shutdown('Goal reached!')
        
        else:
            angle_to_goal = math.atan2(self.goal_y - current_y, self.goal_x - current_x)
            angle_difference = angle_to_goal - current_yaw
            if angle_difference > math.pi:
                angle_difference -= 2 * math.pi
            elif angle_difference < -math.pi:
                angle_difference += 2 * math.pi

            if abs(angle_difference) < self.angle_tolerance:
                self.cmd_vel.linear.x = 0.5
            else:
                self.cmd_vel.linear.x = 0.0
            
            if distance_to_goal > self.distance_tolerance:
                if angle_difference > self.angle_tolerance:
                    self.cmd_vel.angular.z = 0.5
                elif angle_difference < -self.angle_tolerance:
                    self.cmd_vel.angular.z = -0.5
            else:
                self.cmd_vel.angular.z = 0.0
        
            self.cmd_vel_pub.publish(self.cmd_vel)

    def scan_callback(self, msg):
        # Add obstacle detection and avoidance here
        pass

    def run(self):
        while not rospy.is_shutdown():
            self.rate.sleep()

if __name__ == '__main__':
    robot = Robot()
    robot.run()

这个机器人模型会订阅`/odom`和`/scan`话题，发布基于里程计和激光雷达数据的速度控制命令到`/cmd_vel`话题，以达到机器人导航到目标点的目的。你可以根据自己的需求进行修改和扩展。