您现在的位置是:Instagram刷粉絲, Ins買粉絲自助下單平台, Ins買贊網站可微信支付寶付款 >
03 ros訂閱話題python(ros下python文件怎么運行)
Instagram刷粉絲, Ins買粉絲自助下單平台, Ins買贊網站可微信支付寶付款2024-07-07 05:27:59【】8人已围观
简介/p> self.cmd_vel=rospy.Publisher('/cmd_vel',Twist,queue_size=5)
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
rate = 20
r = rospy.Rate(rate)
linear_speed = 0.2
goal_distance =1.0
angular_speed = 1.0
goal_angle = pi
angular_tolerance = radians(2.5)
# Initialize tf listener, and give some time to fill its buffer
self.tf_listener = tf.TransformListener()
rospy.sleep(2)
# Set odom_frame and base_frame
self.odom_frame = '/odom'
try:
self.tf_listener.waitForTransform(self.odom_frame,
'/base_footprint',
rospy.Time(),
rospy.Duration(1.0))
self.base_frame = '/base_footprint'
except(tf.Exception, tf.ConnectivityException, tf.LookupException): try:
self.tf_listener.waitForTransform(self.odom_frame,
'/base_link',
rospy.Time(),
rospy.Duration(1.0))
self.base_frame = '/base_link'
except(tf.Exception, tf.ConnectivityException, tf.LookupException):
rospy.loginfo("Cannot find base_frame transformed from /odom")
rospy.signal_shutdown("tf Exception")
position = Point()
for i in range(2):
move_cmd = Twist()
move_cmd.linear.x = linear_speed # Initial pose, obtained from internal odometry
(position, rotation) = self.get_odom()
x_start = position.x
y_start = position.y
distance = 0
# Keep publishing Twist msgs, until the internal odometry reach the goal
while distance < goal_distance and not rospy.is_shutdown():
self.cmd_vel.publish(move_cmd)
r.sleep()
(position, rotation) = self.get_odom()
distance = sqrt( pow( (position.x-x_start), 2 ) + \
pow( (position.y-y_start), 2 ) )
# Stop 1 ms before rotate
move_cmd = Twist()
self.cmd_vel.publish(move_cmd)
rospy.sleep(1)
move_cmd.angular.z = angular_speed # should be the current ration from odom
angle_last = rotation
angle_turn = 0 while abs(angle_turn+angular_tolerance) < abs(goal_angle) \ and not rospy.is_shutdown():
self.cmd_vel.publish(move_cmd)
r.sleep()
(position, rotation) = self.get_odom
delta_angle = normalize_angle(rotation - angle_last)
angle_turn += delta_angle
angle_last = rotation
move_cmd = Twist()
self.cmd_vel.publish(move_cmd)
rospy.sleep(1)
self.cmd_vel.publish(Twist())
def get_dom(self): try:
(trans, rot) = self.tf_listener.lookupTransfrom(self.odom_frame,
&
很赞哦!(899)
相关文章
- 02 成都博源瑞貿易有限公司(中途開關有幾種型號)
- 02 成都網紅唐僧是哪里人(為什么有的人不上班,也不是富二代,卻天天在外邊玩,從來不缺錢?)
- 02 成立進出口貿易公司的條件(成立有進出口權的公司需要哪些條件?)
- 02 成都康瑞澤貿易有限公司(法律顧問年度工作報告)
- 02 成都快手網紅都有誰(四川成都快手百萬粉的所以主播都有誰)
- 02 感謝粉絲買貨語錄文案(快手點贊超高社會語錄視頻文案 【精】)
- 02 成都大學海外教育學院是專科還是本科(成都大學是幾本?)
- 02 成都汽車貿易公司排名(成都租車公司哪家好推薦幾個)
- 02 成都快樂新生活貿易有限公司做什么的(成都佳年華新生活 房產證為什么那么久)
- 02 成都醫保買粉絲買粉絲怎么繳費(成都醫保怎么自己繳費)