首页ros用python让turtlesim画出一个五角星的轨迹的程序

ros用python让turtlesim画出一个五角星的轨迹的程序

时间: 2024-05-02 20:19:53 浏览: 102

Sure, here's a Python script that uses ROS to make Turtlesim draw a five-pointed star: ``` #!/usr/bin/env python import rospy from geometry_msgs.msg import Twist def draw_star(): rospy.init_node('draw_star', anonymous=True) pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10) rate = rospy.Rate(1) move_cmd = Twist() # Move forward move_cmd.linear.x = 1 pub.publish(move_cmd) rospy.sleep(2) # Turn left move_cmd.linear.x = 0 move_cmd.angular.z = 1 pub.publish(move_cmd) rospy.sleep(2) # Move forward move_cmd.linear.x = 1 move_cmd.angular.z = 0 pub.publish(move_cmd) rospy.sleep(2) # Turn right move_cmd.linear.x = 0 move_cmd.angular.z = -1 pub.publish(move_cmd) rospy.sleep(2) # Move forward move_cmd.linear.x = 1 move_cmd.angular.z = 0 pub.publish(move_cmd) rospy.sleep(2) # Turn left move_cmd.linear.x = 0 move_cmd.angular.z = 1 pub.publish(move_cmd) rospy.sleep(2) # Move forward move_cmd.linear.x = 1 move_cmd.angular.z = 0 pub.publish(move_cmd) rospy.sleep(2) # Turn right move_cmd.linear.x = 0 move_cmd.angular.z = -1 pub.publish(move_cmd) rospy.sleep(2) # Move forward move_cmd.linear.x = 1 move_cmd.angular.z = 0 pub.publish(move_cmd) rospy.sleep(2) # Turn left move_cmd.linear.x = 0 move_cmd.angular.z = 1 pub.publish(move_cmd) rospy.sleep(2) # Stop moving move_cmd.linear.x = 0 move_cmd.angular.z = 0 pub.publish(move_cmd) if __name__ == '__main__': try: draw_star() except rospy.ROSInterruptException: pass ``` This script moves the turtle forward for a few seconds, then turns left, moves forward again, turns right, moves forward, turns left, moves forward, turns right, moves forward, turns left, and finally stops moving. The result is a five-pointed star.

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