ZBLOG

用Ros1使用C++编程实现turtlesim中的小海龟随机行走完成四个形状(直行0.3m、左转后再直行0.3m、右转直行0.3m、画直接为0.2m的半圆),完成这四个形状指令后,然后再按原轨迹的返回。

下面是一个使用ROS1和C++编程实现turtlesim中小海龟完成四个形状,并按原轨迹返回的示例代码:

  1. #include <ros/ros.h>
  2. #include <geometry_msgs/Twist.h>
  3. #include <turtlesim/Spawn.h>
  4. #include <cmath>
  5. const double PI = 3.14159265359;
  6. void moveStraight(ros::Publisher& pub, double distance)
  7. {
  8. geometry_msgs::Twist msg;
  9. msg.linear.x = 0.3;
  10. double currentDistance = 0;
  11. ros::Rate rate(10);
  12. while (currentDistance < distance)
  13. {
  14. pub.publish(msg);
  15. rate.sleep();
  16. currentDistance += std::abs(msg.linear.x / rate.expectedCycleTime().toSec());
  17. }
  18. // 停止运动
  19. msg.linear.x = 0;
  20. pub.publish(msg);
  21. }
  22. void rotateLeft(ros::Publisher& pub, double angle)
  23. {
  24. geometry_msgs::Twist msg;
  25. msg.angular.z = 0.5;
  26. double currentAngle = 0;
  27. ros::Rate rate(10);
  28. while (currentAngle < angle)
  29. {
  30. pub.publish(msg);
  31. rate.sleep();
  32. currentAngle += std::abs(msg.angular.z / rate.expectedCycleTime().toSec());
  33. }
  34. // 停止旋转
  35. msg.angular.z = 0;
  36. pub.publish(msg);
  37. }
  38. void rotateRight(ros::Publisher& pub, double angle)
  39. {
  40. geometry_msgs::Twist msg;
  41. msg.angular.z = -0.5; // 右转为负角速度
  42. double currentAngle = 0;
  43. ros::Rate rate(10);
  44. while (currentAngle > -angle)
  45. {
  46. pub.publish(msg);
  47. rate.sleep();
  48. currentAngle -= std::abs(msg.angular.z / rate.expectedCycleTime().toSec());
  49. }
  50. // 停止旋转
  51. msg.angular.z = 0;
  52. pub.publish(msg);
  53. }
  54. void drawCircle(ros::Publisher& pub, double radius)
  55. {
  56. double distance = 2 * PI * radius;
  57. moveStraight(pub, distance);
  58. rotateLeft(pub, PI);
  59. }
  60. int main(int argc, char** argv)
  61. {
  62. ros::init(argc, argv, "turtle_shapes");
  63. ros::NodeHandle nh;
  64. ros::ServiceClient spawnClient = nh.serviceClient<turtlesim::Spawn>("spawn");
  65. turtlesim::Spawn spawnSrv;
  66. spawnSrv.request.x = 5.0;
  67. spawnSrv.request.y = 5.0;
  68. spawnSrv.request.name = "turtle2";
  69. if (spawnClient.call(spawnSrv))
  70. ROS_INFO("Spawned turtle successfully!");
  71. ros::Publisher pub = nh.advertise<geometry_msgs::Twist>("/turtle2/cmd_vel", 10);
  72. // 直行0.3m
  73. moveStraight(pub, 0.3);
  74. // 左转后再直行0.3m
  75. rotateLeft(pub, PI/2);
  76. moveStraight(pub, 0.3);
  77. // 右转直行0.3m
  78. rotateRight(pub, PI/2);
  79. moveStraight(pub, 0.3);
  80. // 画半径为0.2m的半圆
  81. drawCircle(pub, 0.2);
  82. // 按原轨迹返回,需要逆序执行之前的动作
  83. // 返回:画半径为0.2m的半圆
  84. rotateRight(pub, PI);
  85. moveStraight(pub, 0.2);
  86. // 返回:右转直行0.3m
  87. rotateLeft(pub, PI/2);
  88. moveStraight(pub, 0.3);
  89. // 返回:左转后再直行0.3m
  90. rotateRight(pub, PI/2);
  91. moveStraight(pub, 0.3);
  92. // 返回:直行0.3m
  93. moveStraight(pub, 0.3);
  94. ros::spin();
  95. return 0;
  96. }

请确保你已经正确安装并配置了ROS1环境,以及turtlesim包。此代码将在启动时生成一个名为”turtle2”的小海龟,并按照指定的顺序完成四个形状,然后再按原轨迹返回。


内容由零声教学AI助手提供,问题来源于学员提问

本站部分文章来源于网络,版权归原作者所有,如有侵权请联系站长删除。
转载请注明出处:https://golang.0voice.com/?id=9430

分享:
扫描分享到社交APP
上一篇
下一篇
发表列表
游客 游客
此处应有掌声~
评论列表

还没有评论,快来说点什么吧~

联系我们

在线咨询: 点击这里给我发消息

微信号:3007537140

上班时间: 10:30-22:30

关注我们
x

注册

已经有帐号?