Robot Ignite4: ROS基础--服务(service)续：对小车走方形轨迹代码分析

ROS机器人方形轨迹服务

最新推荐文章于 2023-11-17 16:53:03 发布

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最新推荐文章于 2023-11-17 16:53:03 发布 · 2.2k 阅读

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ros services

MOVE_BB8.py

#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
import time

class MoveBB8():

    def __init__(self):
        self.bb8_vel_publisher = rospy.Publisher('/cmd_vel', Twist, queue_size=1)
        self.ctrl_c = False
        rospy.on_shutdown(self.shutdownhook)
        self.rate = rospy.Rate(10) # 10hz



    def publish_once_in_cmd_vel(self, cmd):
        """
        This is because publishing in topics sometimes fails teh first time you publish.
        In continuos publishing systems there is no big deal but in systems that publish only
        once it IS very important.
        """
        while not self.ctrl_c:
            connections = self.bb8_vel_publisher.get_num_connections()
            if connections > 0:
                self.bb8_vel_publisher.publish(cmd)
                rospy.loginfo("Cmd Published")
                break
            else:
                self.rate.sleep()


    def