if(frame_rx.can_id == 0x31){ geometry_msgs::Twist real_motion; int16_t vel_cms = 0; double vel_ms = 0; int16_t angle_deg_100 = 0; double angle_rad = 0; vel_cms = ((frame_rx.data[1] << 8) & 0xffff) | frame_rx.data[0]; angle_deg_100 = (((frame_rx.data[3] << 8) & 0xffff) | frame_rx.data[2]); vel_ms = (double)vel_cms / param_vc; angle_rad = (double)angle_deg_100 / 100.0 * (M_PI / 180.0); real_motion.linear.x = vel_ms; real_motion.angular.z = angle_rad; motion_pub.publish(real_motion); }

| frame_rx.data[0]) / 100; vel_ms = vel_cms / 100; angle_deg_100 = ((frame_rx.data[3] << 8)
| frame_rx.data[2]) / 100; angle_rad = angle_deg_100 * 0.01;实际运动的速度cms = ((frame_rx.data[1] << 8) | frame_rx.data[0]) / 100，速度ms = vel_cms / 100，角度deg_100 = ((frame_rx.data[3] << 8) | frame_rx.data[2]) / 100，角度rad = angle_deg_100 * 0.01。

相关问题

#include "ros/ros.h" #include<geometry_msgs/Twist.h> //运动速度结构体类型 geometry_msgs::Twist的定义文件 int main(int argc, char *argv[]) { ros::init(argc, argv, "vel_ctrl"); //对该节点进行初始化操作 ros::NodeHandle n; //申明一个NodeHandle对象n，并用n生成一个广播对象vel_pub ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10); //vel_pub会在主题"/cmd_vel"(机器人速度控制主题)里广播geometry_msgs::Twist类型的数据 ROS_INFO("draw_circle start...");//输出显示信息 while(ros::ok()) { geometry_msgs::Twist vel_cmd; //声明一个geometry_msgs::Twist 类型的对象vel_cmd，并将速度的值赋值到这个对象里面 vel_cmd.linear.x = 2.0;//前后（+-） m/s vel_cmd.linear.y = 0.0; //左右（+-） m/s vel_cmd.linear.z = 0.0; vel_cmd.angular.x = 0; vel_cmd.angular.y = 0; vel_cmd.angular.z = 1.8; //机器人的自转速度，+左转，-右转，单位是rad/s vel_pub.publish(vel_cmd); //赋值完毕后，发送到主题"/cmd_vel"。机器人的核心节点会从这个主题接受发送过去的速度值，并转发到硬件体上去执行 ros::spinOnce();//调用此函数给其他回调函数得以执行(比例程未使用回调函数) } return 0; }改为画一朵花

好的，我可以帮你修改代码，让机器人画一朵花。

请先将原有的代码备份，然后将以下代码复制到新的文件中：

#include "ros/ros.h"
#include <geometry_msgs/Twist.h>

int main(int argc, char *argv[]) {
    ros::init(argc, argv, "flower_ctrl");
    ros::NodeHandle n;
    ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 10);
    ROS_INFO("draw_flower start...");

    while(ros::ok()) {
        geometry_msgs::Twist vel_cmd;
        vel_cmd.linear.x = 2.0;
        vel_cmd.linear.y = 0.0;
        vel_cmd.linear.z = 0.0;

        // 画花的代码
        for(int i = 0; i < 24; i++) {
            vel_cmd.angular.z = 0.75;
            vel_pub.publish(vel_cmd);
            ros::Duration(0.2).sleep();

            vel_cmd.angular.z = 0;
            vel_pub.publish(vel_cmd);
            ros::Duration(0.5).sleep();
        }

        vel_pub.publish(vel_cmd);
        ros::Duration(1.0).sleep();
    }

    return 0;
}

这段代码会让机器人画出一朵花，具体的实现方法是：机器人先向前走一段距离，然后旋转一定角度，再向前走一段距离，如此反复，最后形成一朵花的图案。

你可以将这段代码编译并运行，看看机器人是否能够画出一朵花。

#include <ros/ros.h> #include <geometry_msgs/Twist.h> #include <math.h> int main(int argc, char** argv) { ros::init(argc, argv, "turtle_triangle"); ros::NodeHandle node; // 创建一个发布器，用于发布速度消息 ros::Publisher pub = node.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1000); // 设置循环频率，每秒10次 ros::Rate rate(10); // 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; vel_msg.angular.z = 0; // 设定三角形边长和角度 double side_length = 1.0; double angle = M_PI / 3.0; // 循环绘制三角形 for (int i = 0; i < 3; i++) { // 线速度为正，角速度为0，直行一段距离 vel_msg.linear.x = side_length; pub.publish(vel_msg); double t0 = ros::Time::now().toSec(); double current_distance = 0.0; while (current_distance < side_length) { pub.publish(vel_msg); double t1 = ros::Time::now().toSec(); current_distance = vel_msg.linear.x * (t1 - t0); } // 线速度为0，角速度为正，原地旋转一定角度 vel_msg.linear.x = 0; vel_msg.angular.z = angle; pub.publish(vel_msg); double t2 = ros::Time::now().toSec(); double current_angle = 0.0; while (current_angle < angle) { pub.publish(vel_msg); double t3 = ros::Time::now().toSec(); current_angle = vel_msg.angular.z * (t3 - t2); } // 重置角速度 vel_msg.angular.z = 0; } return 0; }改成循环运行三次

可以将代码修改为：

#include <ros/ros.h>
#include <geometry_msgs/Twist.h>
#include <math.h>

int main(int argc, char** argv) {
    ros::init(argc, argv, "turtle_triangle");
    ros::NodeHandle node;

    // 创建一个发布器，用于发布速度消息
    ros::Publisher pub = node.advertise<geometry_msgs::Twist>("/turtle1/cmd_vel", 1000);

    // 设置循环频率，每秒10次
    ros::Rate rate(10);

    // 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;
    vel_msg.angular.z = 0;

    // 设定三角形边长和角度
    double side_length = 1.0;
    double angle = M_PI / 3.0;

    // 循环绘制三角形，运行三次
    for (int j = 0; j < 3; j++) {
        for (int i = 0; i < 3; i++) {
            // 线速度为正，角速度为0，直行一段距离
            vel_msg.linear.x = side_length;
            pub.publish(vel_msg);
            double t0 = ros::Time::now().toSec();
            double current_distance = 0.0;
            while (current_distance < side_length) {
                pub.publish(vel_msg);
                double t1 = ros::Time::now().toSec();
                current_distance = vel_msg.linear.x * (t1 - t0);
            }

            // 线速度为0，角速度为正，原地旋转一定角度
            vel_msg.linear.x = 0;
            vel_msg.angular.z = angle;
            pub.publish(vel_msg);
            double t2 = ros::Time::now().toSec();
            double current_angle = 0.0;
            while (current_angle < angle) {
                pub.publish(vel_msg);
                double t3 = ros::Time::now().toSec();
                current_angle = vel_msg.angular.z * (t3 - t2);
            }

            // 重置角速度
            vel_msg.angular.z = 0;
        }
    }

    return 0;
}

这样就可以让代码循环运行三次，绘制出三个等边三角形了。