一、roslaunch rbx1_bringup fake_turtlebot.launch
二、rosrun rviz rviz `rospack find rbx1_nav`/sim.rviz
三、rosrun rbx1_nav timed_out_and_back.py
#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from math import pi
class OutAndBack():
def __init__(self):
rospy.init_node('out_and_back', anonymous=False)
rospy.on_shutdown(self.shutdown)
self.cmd_vel = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
rate = 50
r = rospy.Rate(rate)
linear_speed = 0.2
goal_distance = 1.0
linear_duration = goal_distance / linear_speed
angular_speed = 1.0
goal_angle = pi
angular_duration = goal_angle / angular_speed
for i in range(1):
move_cmd = Twist()
move_cmd.linear.x = linear_speed
# Move forward for a time to go the desired distance
ticks = int(linear_duration * rate)
for t in range(ticks):
self.cmd_vel.publish(move_cmd)
r.sleep()
move_cmd = Twist()
self.cmd_vel.publish(move_cmd)
rospy.sleep(1)
# Now rotate left roughly 180 degrees
move_cmd.angular.z = angular_speed
ticks = int(goal_angle * rate)
for t in range(ticks):
self.cmd_vel.publish(move_cmd)
r.sleep()
move_cmd = Twist()
self.cmd_vel.publish(move_cmd)
rospy.sleep(1)
self.cmd_vel.publish(Twist())
def shutdown(self):
rospy.loginfo("Stopping the robot...")
self.cmd_vel.publish(Twist())
rospy.sleep(1)
if __name__ == '__main__':
try:
OutAndBack()
except:
rospy.loginfo("Out-and-Back node terminated.")
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