ros乌龟做五角星运动

要让ROS乌龟做五角星运动，需要使用Turtlebot3仿真器和ROS程序。以下是实现步骤：

1. 在终端中打开Turtlebot3仿真器，输入以下命令：

roslaunch turtlebot3_gazebo turtlebot3_world.launch

2. 打开一个新的终端，启动turtlebot3_teleop键盘控制程序，输入以下命令：

roslaunch turtlebot3_teleop turtlebot3_teleop_key.launch

3. 打开一个新的终端，创建一个ROS包，输入以下命令：

catkin_create_pkg turtlebot3_star rospy

4. 在ROS包中创建一个名为“star.py”的Python脚本，输入以下代码：

#!/usr/bin/env python

import rospy
from geometry_msgs.msg import Twist
import math

def star():
    rospy.init_node('turtlebot3_star')
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=10)
    rate = rospy.Rate(10)

    while not rospy.is_shutdown():
        twist = Twist()
        twist.linear.x = 0.2
        twist.angular.z = 0.5

        pub.publish(twist)
        rate.sleep()

    # Move forward for 1 second
    rospy.sleep(1)

    # Rotate 72 degrees
    twist.linear.x = 0
    twist.angular.z = math.radians(72)
    pub.publish(twist)

    # Move forward for 1 second
    rospy.sleep(1)

    # Repeat the previous two steps four more times
    for i in range(4):
        twist.linear.x = 0.2
        twist.angular.z = 0.5
        pub.publish(twist)
        rospy.sleep(1)

        twist.linear.x = 0
        twist.angular.z = math.radians(72)
        pub.publish(twist)
        rospy.sleep(1)

if __name__ == '__main__':
    try:
        star()
    except rospy.ROSInterruptException:
        pass

5. 运行ROS节点，输入以下命令：

rosrun turtlebot3_star star.py

这样，ROS乌龟就会开始执行五角星运动。