ros代码控制海龟画五角星

代码实现

#!/usr/bin/env python3
# -*- coding: utf-8 -*-
 
import rospy
from geometry_msgs.msg import Twist
 
 
def velocity_publisher():
    # ROS 节点初始化
    rospy.init_node('velocity_publisher', anonymous=True)
 
    # 创建一个 publisher，发布名为 /turtle1/cmd_vel 的 topic.消息类型为 geometry_msgs::Twist, 队列长度 10
    turtle_vel_pub = rospy.Publisher('/turtle1/cmd_vel', Twist, queue_size=10)
 
    # 设置循环频率
    rate = rospy.Rate(1)
 
    while not rospy.is_shutdown():
        # 初始化 geomety_msgs::Twist 类型消息

        vel_msg = Twist()
        x=[0,3,0,3]
        z=[3.7699113,0,3.7699113,0]
        for i,j in zip(x,z):
            vel_msg.linear.x = i
            vel_msg.angular.z = j
    
            # 发布消息
            turtle_vel_pub.publish(vel_msg)