更正这个Python代码import rospy from mavros_msgs.msg import State from mavros_msgs.srv import CommandBool, SetMode from geometry_msgs.msg import PoseStamped import time current_state = State() def state_cb(msg): global current_state current_state = msg rospy.init_node('position') rate = rospy.Rate(20.0) state_sub = rospy.Subscriber("mavros/state", State, state_cb) local_pos_pub = rospy.Publisher("mavros/setpoint_position/local", PoseStamped, queue_size=10) arming_client = rospy.ServiceProxy("mavros/cmd/arming", CommandBool) set_mode_client = rospy.ServiceProxy("mavros/set_mode", SetMode) wait for FCU connection while not rospy.is_shutdown() and not current_state.connected: rate.sleep() pose = PoseStamped() pose.pose.position.x = 0 pose.pose.position.y = 0 pose.pose.position.z = 1.5 offb_set_mode = SetMode() offb_set_mode.custom_mode = "OFFBOARD" arm_cmd = CommandBool() arm_cmd.value = True state = 3 last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): if not current_state.armed: if arming_client(arm_cmd) and arm_cmd.response.success: rospy.loginfo("Vehicle armed") if current_state.mode != "OFFBOARD": if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("Offboard enabled") rate.sleep() while state > 0: last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 0 pose.pose.position.y = 0 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS0") rate.sleep() last_request = rospy.Time.now() while not rospy.is_shutdown() and (rospy.Time.now() - last_request < rospy.Duration(5.0)): pose.pose.position.x = 2 pose.pose.position.y = 2 local_pos_pub.publish(pose) rospy.loginfo("SUCCESS1") rate.sleep() state -= 1 rospy.loginfo("state=" + str(state)) offb_set_mode.custom_mode = "AUTO.LAND" if set_mode_client(offb_set_mode) and offb_set_mode.response.mode_sent: rospy.loginfo("AUTO.LAND enabled") last_request = rospy.Time.now() rospy.spin()

这段 Python 代码主要是控制飞行器执行一定的动作。代码中，首先通过导入 rospy、mavros_msgs.msg、mavros_msgs.srv、geometry_msgs.msg 等模块，定义了一些变量和函数。

然后，在 while 循环中，程序会等待与飞控系统的连接建立，之后会设置飞行器的起飞高度为 1.5 米，然后进入一个 while 循环，其中会执行飞行器的上升和向右移动，最后执行自动降落的任务。

其中，offb_set_mode.custom_mode = "OFFBOARD" 会将飞行器的模式设置为 OFFBOARD，arm_cmd.value = True 会将飞行器的电机解锁，local_pos_pub.publish(pose) 会将飞行器的位置信息发布到话题中，set_mode_client(offb_set_mode) 会将飞行器的模式切换为指定的模式，arming_client(arm_cmd) 会将飞行器的电机锁定或解锁。

相关问题

订阅import rospy import rospkg from quadrotor_msgs.msg import PositionCommand from nav_msgs.msg import Odometry from sensor_msgs.msg import Joy from mavros_msgs.msg import AttitudeTarget from tf.transformations import euler_from_quaternion import math rospy.init_node('traj_pub') local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10)发出的消息并编写一段Python代码

好的，根据您的要求，以下是一段Python代码，用于订阅"/position_cmd"话题的消息：

import rospy
from quadrotor_msgs.msg import PositionCommand

# 回调函数，接收到PositionCommand消息时调用
def pos_cmd_callback(data):
    # 处理PositionCommand消息
    print("Received message:")
    print("Header:", data.header)
    print("Position:", data.position)
    print("Velocity:", data.velocity)
    print("Acceleration:", data.acceleration)
    print("Yaw:", data.yaw)
    print("Yaw_dot:", data.yaw_dot)
    print("Jerk:", data.jerk)

# 初始化ROS节点
rospy.init_node('my_subscriber')

# 创建一个订阅者，订阅PositionCommand话题
pos_cmd_subscriber = rospy.Subscriber('/position_cmd', PositionCommand, pos_cmd_callback)

# 持续监听消息
rospy.spin()

在上面的代码中，我们使用了ROS中的rospy库来连接到ROS节点，并创建了一个订阅者，订阅了"/position_cmd"话题。当接收到来自该话题的消息时，我们通过回调函数pos_cmd_callback来处理消息，并将消息打印到控制台上。最后，我们使用rospy.spin()来持续监听消息。

根据下面的Python代码编写对应的订阅这代码#!/usr/bin/env python3 #coding=utf-8 import rospy from quadrotor_msgs.msg import PositionCommand from nav_msgs.msg import Odometry from sensor_msgs.msg import Joy from mavros_msgs.msg import AttitudeTarget from tf.transformations import euler_from_quaternion import math rospy.init_node('traj_pub') local_pos_pub3 = rospy.Publisher('/position_cmd', PositionCommand, queue_size=10) poscom = PositionCommand() rate = rospy.Rate(20.0) i = 0 while not rospy.is_shutdown(): poscom.header.stamp = rospy.Time.now() poscom.header.frame_id = "world" poscom.position.x = 2.5 * math.sin(math.pi * i / 400) poscom.position.y = 5 * math.sin(math.pi * i / 800) poscom.position.z = 2 poscom.velocity.x = 0 poscom.velocity.y = 0 poscom.velocity.z = 0 poscom.acceleration.x = 0 poscom.acceleration.y = 0 poscom.acceleration.z = 0 poscom.yaw = 0 poscom.yaw_dot = 0 poscom.jerk.x = 0 poscom.jerk.y = 0 poscom.jerk.z = 0 local_pos_pub3.publish(poscom) rate.sleep() i += 1

好的，根据您的要求，以下是一段Python代码，用于订阅quadrotor机器人的Odometry话题和Joy话题：

import rospy
from nav_msgs.msg import Odometry
from sensor_msgs.msg import Joy

# 回调函数，接收到Odometry消息时调用
def odom_callback(data):
    # 处理Odometry消息
    pass

# 回调函数，接收到Joy消息时调用
def joy_callback(data):
    # 处理Joy消息
    pass

# 初始化ROS节点
rospy.init_node('my_subscriber')

# 创建一个订阅者，订阅Odometry话题
odom_subscriber = rospy.Subscriber('/odom', Odometry, odom_callback)

# 创建一个订阅者，订阅Joy话题
joy_subscriber = rospy.Subscriber('/joy', Joy, joy_callback)

# 持续监听消息
rospy.spin()

在上面的代码中，我们使用了ROS中的rospy库来连接到ROS节点，并创建了两个订阅者，分别订阅了"/odom"和"/joy"话题。当接收到来自这两个话题的消息时，我们通过回调函数odom_callback和joy_callback来处理消息。最后，我们使用rospy.spin()来持续监听消息。