编写一个ros函数实现小车向左转
时间: 2023-08-11 08:04:57 浏览: 48
好的,我可以帮你编写一个ROS函数以使小车向左转。以下是一个示例代码:
```python
#!/usr/bin/env python
import rospy
from std_msgs.msg import Float64
def left_turn():
rospy.init_node('left_turn_node', anonymous=True)
servo_pub = rospy.Publisher('/car/servo', Float64, queue_size=10)
rate = rospy.Rate(10) # 10hz
servo_angle = 90.0 # Set initial servo angle to center position
while not rospy.is_shutdown():
# Set the servo angle to turn the car left
servo_angle = 70.0 # Experiment with different angles to get desired behavior
servo_pub.publish(servo_angle)
rate.sleep()
if __name__ == '__main__':
try:
left_turn()
except rospy.ROSInterruptException:
pass
```
此代码将节点命名为“left_turn_node”,并从“/car/servo”发布名为“servo_pub”的Float64类型的ROS主题。其将使用速率为10 Hz的循环来控制舵机角度,以将小车向左转。你可以在代码中尝试不同的舵机角度,以获取所需的行为。希望这可以回答你的问题!