励志奖学金rospy让机器⼈绕圈、矩形⾏⾛（碰到障碍物停⽌）绕圆圈⾏⾛白灼秋葵
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi
def publisher():
pub = rospy.Publisher('mobile_ba/commands/velocity', Twist)
组合销售
rospy.init_node('Walker', anonymous=True)
rate = rospy.Rate(10) #10hz
r = 0.1 # 半径
speed_lin = 0.5 #线速度
speed_ang = speed_lin/(2*pi*r) #⾓速度
desired_velocity = Twist()
desired_velocity.linear.x = speed_lin
desired_velocity.angular.z = speed_ang
while True:
pub.publish(desired_velocity)
rate.sleep()
if __name__ == "__main__":
try:
publisher()
except rospy.ROSInterruptException:
pass
————————————————
绕矩形⾏⾛，并且碰到障碍物停⽌。
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from kobuki_msgs.msg import BumperEvent
from math import pi
import time
stop = Fal
def callback(data, pub):
global stop
if data.state == 1:
stop = True
print('Robot stop!')
def publisher():
global stop梦见和男友分手
pub = rospy.Publisher('mobile_ba/commands/velocity', Twist)
sub = rospy.Subscriber('mobile_ba/events/bumper', BumperEvent, callback=callback, callback_args=pub)
rospy.init_node('Walker', anonymous=True)
rate = rospy.Rate(10) #10hz 10/s
教堂简笔画desired_velocity = Twist()
desired_velocity.linear.x = 0
desired_velocity.angular.z = 0
while True:
desired_velocity.linear.x = 0.3
desired_velocity.angular.z = 0
# go straigth
for i in range(40):
pub.publish(desired_velocity)
if stop:
return
rate.sleep()
# turn direct
desired_velocity.linear.x = 0 desired_velocity.angular.z = pi/2
中等职业技术学校
for i in range(10):
pub.publish(desired_velocity)
if stop:安宫牛黄丸说明书
return
rate.sleep()
if __name__ == "__main__":
try:
publisher()
正宗羊肉汤except rospy.ROSInterruptException: pass
