Turbot与python教程-实现左向旋转

说明：

介绍如何实现通过python控制turbot实现左向旋转

代码：

实现代码：

# A very basic TurtleBot script that moves TurtleBot forward indefinitely. Press CTRL + C to stop. To run:

# On TurtleBot:

# roslaunch turtlebot_bringup minimal.launch

# On work station:

# python goLeft.py

import rospy

from geometry_msgs.msg import Twist

class GoForward():

def __init__(self):

# initiliaze

rospy.init_node('GoForward', anonymous=False)

# tell user how to stop TurtleBot

rospy.loginfo("To stop TurtleBot CTRL + C")

# What function to call when you ctrl + c

rospy.on_shutdown(self.shutdown)

# Create a publisher which can "talk" to TurtleBot and tell it to move

# Tip: You may need to change cmd_vel_mux/input/navi to /cmd_vel if you're not using TurtleBot2

self.cmd_vel = rospy.Publisher('cmd_vel_mux/input/navi', Twist, queue_size=10)

#TurtleBot will stop if we don't keep telling it to move. How often should we tell it to move? 10 HZ

r = rospy.Rate(10);

# Twist is a datatype for velocity

move_cmd = Twist()

# let's go forward at 0.2 m/s

move_cmd.linear.x = 0.2

# let's turn at 0 radians/s

move_cmd.angular.z = radians(45); #45 deg/s in radians/s

# as long as you haven't ctrl + c keeping doing...

while not rospy.is_shutdown():

# publish the velocity

self.cmd_vel.publish(move_cmd)

# wait for 0.1 seconds (10 HZ) and publish again

r.sleep()

def shutdown(self):

# stop turtlebot

rospy.loginfo("Stop TurtleBot")

# a default Twist has linear.x of 0 and angular.z of 0. So it'll stop TurtleBot

self.cmd_vel.publish(Twist())

# sleep just makes sure TurtleBot receives the stop command prior to shutting down the script

rospy.sleep(1)

if __name__ == '__main__':

try:

GoForward()

except:

rospy.loginfo("GoForward node terminated.")

move_cmd.linear.x = 0.2 实现每秒0.2m/s速度前进

move_cmd.angular.z = radians(45) 实现转动

演示：

主机，新终端，启动底盘

$ roslaunch turbot_bringup minimal.launch

从机，新终端，启动脚本

$ rosrun turbot_code goLeft.py