蓝桥ROS机器人之turtlesim贪吃蛇

只有运行结果和之前的提示：

从turtlesim到贪吃蛇……（补充）

解压缩：

创建工作区并编译后执行：

roslaunch tank_snake_game start.launch

import rospy
from tanksim.msg import Pose
from tanksim.srv import Spawn
from tanksim.srv import SetPen
from geometry_msgs.msg import Twist
from geometry_msgs.msg import TransformStamped
import random
import mathtank1_pose = Pose()
tanklist = []
lasttank = 1
nexttankIndex = 1class mySpawner:def __init__(self, tname):self.tank_name = tnameself.state = 1rospy.wait_for_service('/spawn')try:client = rospy.ServiceProxy('/spawn', Spawn)x = random.randint(1, 10)y = random.randint(1, 10)theta = random.uniform(1, 3.14)name = tname_nm = client(x, y, theta, name)rospy.loginfo("tank Created [%s] [%f] [%f]", name, x, y)rospy.Subscriber(self.tank_name + '/pose', Pose, self.tank_poseCallback)self.pub = rospy.Publisher(self.tank_name + '/cmd_vel', Twist, queue_size=10)self.tank_to_follow = 1self.tank_pose = Pose()rospy.wait_for_service("/" + tname + '/set_pen')try:client = rospy.ServiceProxy("/" + tname + '/set_pen', SetPen)client(0,0,0,0,1)except rospy.ServiceException as e:print("Service call failed: %s"%e)except rospy.ServiceException as e:print("Service tp spawn a tank failed. %s", e)def tank_poseCallback(self, data):self.tank_pose = datadef tank_velocity(self, msg):self.pub.publish(msg)def tank1_poseCallback(data):global tank1_poseglobal lasttankglobal tanklistglobal nexttankIndextank1_pose.x = round(data.x, 4)tank1_pose.y = round(data.y, 4)tank1_pose.theta = round(data.theta, 4)for i in range(len(tanklist)):twist_data = Twist()diff = math.sqrt(pow((tank1_pose.x - tanklist[i].tank_pose.x) , 2) + pow((tank1_pose.y - tanklist[i].tank_pose.y), 2))ang = math.atan2(tank1_pose.y - tanklist[i].tank_pose.y, tank1_pose.x - tanklist[i].tank_pose.x) - tanklist[i].tank_pose.thetaif(ang <= -3.14) or (ang > 3.14):ang = ang / math.piif (tanklist[i].state == 1):if diff < 1.0:tanklist[i].state = 2tanklist[i].tank_to_follow = lasttanklasttank = i + 2rospy.loginfo("tank Changed [%s] [%f] [%f]", tanklist[i].tank_name, diff, ang)nexttankIndex += 1tanklist.append(mySpawner("tank" + str(nexttankIndex)))else:parPose = tank1_poseif(tanklist[i].tank_to_follow != 1):parPose = tanklist[tanklist[i].tank_to_follow - 2].tank_posediff = math.sqrt(pow((parPose.x - tanklist[i].tank_pose.x) , 2) + pow((parPose.y - tanklist[i].tank_pose.y), 2))goal = math.atan2(parPose.y - tanklist[i].tank_pose.y, parPose.x - tanklist[i].tank_pose.x)ang = math.atan2(math.sin(goal - tanklist[i].tank_pose.theta), math.cos(goal - tanklist[i].tank_pose.theta))if(ang <= -3.14) or (ang > 3.14):ang = ang / (2*math.pi)if(diff < 0.8):twist_data.linear.x = 0 twist_data.angular.z = 0else:twist_data.linear.x = 2.5 * diff                twist_data.angular.z = 20 * angtanklist[i].tank_velocity(twist_data)tanklist[i].oldAngle = ang    def spawn_tank_fn():global nexttankIndexrospy.init_node('snake_tank', anonymous=True)rospy.Subscriber('/tank1/pose', Pose, tank1_poseCallback)rospy.wait_for_service("/tank1/set_pen")try:client = rospy.ServiceProxy('/tank1/set_pen', SetPen)client(0,0,0,0,1)except rospy.ServiceException as e:print("Service call failed: %s"%e)nexttankIndex += 1tanklist.append(mySpawner("tank" + str(nexttankIndex)))# for i in range(2,10):#     tanklist.append(mySpawner("tank" + str(i)))rospy.spin()if __name__ == "__main__":spawn_tank_fn()

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