turtlesim到贪吃蛇……(补充)

网友投稿 771 2022-05-29

原文如下:

从turtlesim到贪吃蛇……

部分提示:

背下来但是不理解,忘得特别快!!!

综合项目案例一:贪吃蛇实现

1. 这个项目实现,需要用到哪些已经学过的知识点?

总-分

2. 如何将这些知识点融合(综合)完成此案例?

3. 每个知识点在此综合项目中的组成部分或位置?

4. 设计方案(草案)完成项目构思?

5. 编程实现各部分的功能并测试?

6. 将各部分的功能进行有机组合实现此项目案例?

分-总

综合拆解成单元,单元组成综合。

复杂变简单,简单变复杂

1. 车队现象!

领队负责路径规划,其他参与者负责跟随

第一种:领队找队友-贪吃蛇

第二种:队友找领队-集群

2. 图形化使用turtlesim;扩展生成新的机器人(用cpp代码实现而非API接口);领队需要使用键盘遥控;

3. 集群和贪吃蛇联系,如何改变和应用?

4. 如何利用上述知识点进行设计?

一个有问题的程序如下(请不要参考):

#include

#include

#include

#include

int main(int argc, char** argv)

{

ros::init(argc, argv, "my_tf_listener");

ros::NodeHandle node;

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle = node.serviceClient("/spawn");

turtlesim::Spawn srv;

add_turtle.call(srv);

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle3 = node.serviceClient("/spawn");

turtlesim::Spawn srv3;

add_turtle.call(srv3);

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle4 = node.serviceClient("/spawn");

turtlesim::Spawn srv4;

add_turtle.call(srv4);

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle5 = node.serviceClient("/spawn");

turtlesim::Spawn srv5;

add_turtle.call(srv5);

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle6 = node.serviceClient("/spawn");

turtlesim::Spawn srv6;

add_turtle.call(srv6);

ros::service::waitForService("/spawn");

ros::ServiceClient add_turtle7 = node.serviceClient("/spawn");

turtlesim::Spawn srv7;

add_turtle.call(srv7);

ros::Publisher turtle_vel = node.advertise("/turtle2/cmd_vel", 10);

ros::Publisher turtle_vel3 = node.advertise("/turtle3/cmd_vel", 10);

ros::Publisher turtle_vel4 = node.advertise("/turtle4/cmd_vel", 10);

ros::Publisher turtle_vel5 = node.advertise("/turtle5/cmd_vel", 10);

ros::Publisher turtle_vel6 = node.advertise("/turtle6/cmd_vel", 10);

ros::Publisher turtle_vel7 = node.advertise("/turtle7/cmd_vel", 10);

tf::TransformListener listener;

tf::TransformListener listener3;

ros::Rate rate(10.0);

while (node.ok())

{

//

tf::StampedTransform transform;

try

{

listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0));

listener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform);

}

catch (tf::TransformException &ex)

{

ROS_ERROR("%s",ex.what());

ros::Duration(1.0).sleep();

continue;

}

//

geometry_msgs::Twist vel_msg;

vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),

transform.getOrigin().x());

vel_msg.linear.x = 2.0 * sqrt(pow(transform.getOrigin().x(), 2) +

pow(transform.getOrigin().y(), 2));

turtle_vel.publish(vel_msg);

if(vel_msg.linear.x<0.01){

//

tf::StampedTransform transform3;

try

{

listener3.waitForTransform("/turtle3", "/turtle2", ros::Time(0), ros::Duration(3.0));

listener3.lookupTransform("/turtle3", "/turtle2", ros::Time(0), transform);

}

catch (tf::TransformException &ex)

{

ROS_ERROR("%s",ex.what());

ros::Duration(1.0).sleep();

continue;

}

//

geometry_msgs::Twist vel_msg3;

vel_msg3.angular.z = 4.0 * atan2(transform3.getOrigin().y(),

transform3.getOrigin().x());

从turtlesim到贪吃蛇……(补充)

vel_msg3.linear.x = 2.0 * sqrt(pow(transform3.getOrigin().x(), 2) +

pow(transform3.getOrigin().y(), 2));

turtle_vel3.publish(vel_msg3);

}

rate.sleep();

}

return 0;

};

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