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最新推荐文章于 2025-01-20 22:13:23 发布

原创最新推荐文章于 2025-01-20 22:13:23 发布 · 317 阅读

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#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist
import sys, select, termios, tty

msg = """
Control mbot!
---------------------------
Moving around:
   u    i    o
   j    k    l
   m    ,    .

q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
space key, k : force stop
anything else : stop smoothly

CTRL-C to quit
"""

moveBindings = {
        'i':(1,0),
        'o':(1,-1),
        'j':(0,1),
        'l':(0,-1),
        'u':(1,1),
        ',':(-1,0),
        '.':(-1,1),
        'm':(-1,-1),
           }

speedBindings={
        'q':(1.1,1.1),
        'z':(.9,.9),
        'w':(1.1,1),
        'x':(.9,1),
        'e':(1,1.1),
        'c':(1,.9),
          }

def getKey():
    tty.setraw(sys.stdin.fileno())
    rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
    if rlist:
        key = sys.stdin.read(1)
    else:
        key = ''

    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
    return key

speed = .2
turn = 1

def vels(speed,turn):
    return "currently:\tspeed %s\tturn %s " % (speed,turn)

if __name__=="__main__":
    settings = termios.tcgetattr(sys.stdin)
    
    rospy.init_node('mbot_teleop')
    pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)

    x = 0
    th = 0
    status = 0
    count = 0
    acc = 0.1
    target_speed = 0
    target_turn = 0
    control_speed = 0
    control_turn = 0
    try:
        print msg
        print vels(speed,turn)
        while(1):
            key = getKey()
            # 运动控制方向键（1：正方向，-1负方向）
            if key in moveBindings.keys():
                x = moveBindings[key][0]
                th = moveBindings[key][1]
                count = 0
            # 速度修改键
            elif key in speedBindings.keys():
                speed = speed * speedBindings[key][0]  # 线速度增加0.1倍
                turn = turn * speedBindings[key][1]    # 角速度增加0.1倍
                count = 0

                print vels(speed,turn)
                if (status == 14):
                    print msg
                status = (status + 1) % 15
            # 停止键
            elif key == ' ' or key == 'k' :
                x = 0
                th = 0
                control_speed = 0
                control_turn = 0
            else:
                count = count + 1
                if count > 4:
                    x = 0
                    th = 0
                if (key == '\x03'):
                    break

            # 目标速度=速度值*方向值
            target_speed = speed * x
            target_turn = turn * th

            # 速度限位，防止速度增减过快
            if target_speed > control_speed:
                control_speed = min( target_speed, control_speed + 0.02 )
            elif target_speed < control_speed:
                control_speed = max( target_speed, control_speed - 0.02 )
            else:
                control_speed = target_speed

            if target_turn > control_turn:
                control_turn = min( target_turn, control_turn + 0.1 )
            elif target_turn < control_turn:
                control_turn = max( target_turn, control_turn - 0.1 )
            else:
                control_turn = target_turn

            # 创建并发布twist消息
            twist = Twist()
            twist.linear.x = control_speed; 
            twist.linear.y = 0; 
            twist.linear.z = 0
            twist.angular.x = 0; 
            twist.angular.y = 0; 
            twist.angular.z = control_turn
            pub.publish(twist)

    except:
        print e

    finally:
        twist = Twist()
        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
        pub.publish(twist)

    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)

Panels:

Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
Splitter Ratio: 0.5
Tree Height: 473
Class: rviz/Selection
Name: Selection
Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
  Name: Tool Properties
  Splitter Ratio: 0.588679016
Class: rviz/Views
Expanded:
- /Current View1
  Name: Views
  Splitter Ratio: 0.5
Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: “”
Visualization Manager:
Class: “”
Displays:
- Alpha: 0.5
  Cell Size: 1
  Class: rviz/Grid
  Color: 160; 160; 164
  Enabled: true
  Line Style:
  Line Width: 0.0299999993
  Value: Lines
  Name: Grid
  Normal Cell Count: 0
  Offset:
  X: 0
  Y: 0
  Z: 0
  Plane: XY
  Plane Cell Count: 10
  Reference Frame:
  Value: true
- Alpha: 1
  Class: rviz/RobotModel
  Collision Enabled: false
  Enabled: true
  Links:
  All Links Enabled: true
  Expand Joint Details: false
  Expand Link Details: false
  Expand Tree: false
  Link Tree Style: Links in Alphabetic Order
  back_castor_link:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  base_footprint:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  base_link:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  front_castor_link:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  left_wheel_link:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  right_wheel_link:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  Name: RobotModel
  Robot Description: robot_description
  TF Prefix: “”
  Update Interval: 0
  Value: true
  Visual Enabled: true
- Class: rviz/TF
  Enabled: true
  Frame Timeout: 15
  Frames:
  All Enabled: true
  back_castor_link:
  Value: true
  base_footprint:
  Value: true
  base_link:
  Value: true
  front_castor_link:
  Value: true
  left_wheel_link:
  Value: true
  right_wheel_link:
  Value: true
  Marker Scale: 0.100000001
  Name: TF
  Show Arrows: true
  Show Axes: true
  Show Names: true
  Tree:
  base_footprint:
  base_link:
  back_castor_link:
  {}
  front_castor_link:
  {}
  left_wheel_link:
  {}
  right_wheel_link:
  {}
  Update Interval: 0
  Value: true
  Enabled: true
  Global Options:
  Background Color: 48; 48; 48
  Default Light: true
  Fixed Frame: base_footprint
  Frame Rate: 30
  Name: root
  Tools:
- Class: rviz/Interact
  Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
  Topic: /initialpose
- Class: rviz/SetGoal
  Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
  Single click: true
  Topic: /clicked_point
  Value: true
  Views:
  Current:
  Class: rviz/Orbit
  Distance: 0.86167258
  Enable Stereo Rendering:
  Stereo Eye Separation: 0.0599999987
  Stereo Focal Distance: 1
  Swap Stereo Eyes: false
  Value: false
  Focal Point:
  X: -0.0422003381
  Y: -0.00756526971
  Z: 0.119616583
  Focal Shape Fixed Size: true
  Focal Shape Size: 0.0500000007
  Invert Z Axis: false
  Name: Current View
  Near Clip Distance: 0.00999999978
  Pitch: 0.265398145
  Target Frame:
  Value: Orbit (rviz)
  Yaw: 0.650397897
  Saved: ~
  Window Geometry:
  Displays:
  collapsed: false
  Height: 754
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000268fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000268000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000242fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000002800000242000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a70000003efc0100000002fb0000000800540069006d00650100000000000004a70000030000fffffffb0000000800540069006d00650100000000000004500000000000000000000003370000026800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
  collapsed: false
  Time:
  collapsed: false
  Tool Properties:
  collapsed: false
  Views:
  collapsed: false
  Width: 1191
  X: 276
  Y: 84