编写一个ros函数实现jaston nano阿库曼小车向左转
时间: 2023-11-22 14:56:34 浏览: 29
好的,以下是实现转向功能的ROS函数代码示例:
```python
import rospy
from ackermann_msgs.msg import AckermannDrive
def left_turn():
rospy.init_node('turn_left_node')
pub = rospy.Publisher('/ackermann_cmd', AckermannDrive, queue_size=1)
rate = rospy.Rate(10) # 10hz
while not rospy.is_shutdown():
msg = AckermannDrive()
msg.speed = 0.0 # set speed to zero, only turn left
msg.steering_angle = -0.5 # set steering angle to turn left
pub.publish(msg)
rate.sleep()
if __name__ == '__main__':
try:
left_turn()
except rospy.ROSInterruptException:
pass
```
这个ROS函数实现了一个节点,使用 `AckermannDrive` 消息类型向 `/ackermann_cmd` 话题发布控制小车进行左转的指令。具体实现中,函数会循环发布速度(设为0)与左转转向角度(设为-0.5)的指令,以达到持续向左转的效果。