ros2之turtlesim命令
747
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
turtlesim::Spawn srv;
add_turtle.call(srv);
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle3 = node.serviceClient
turtlesim::Spawn srv3;
add_turtle.call(srv3);
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle4 = node.serviceClient
turtlesim::Spawn srv4;
add_turtle.call(srv4);
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle5 = node.serviceClient
turtlesim::Spawn srv5;
add_turtle.call(srv5);
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle6 = node.serviceClient
turtlesim::Spawn srv6;
add_turtle.call(srv6);
ros::service::waitForService("/spawn");
ros::ServiceClient add_turtle7 = node.serviceClient
turtlesim::Spawn srv7;
add_turtle.call(srv7);
ros::Publisher turtle_vel = node.advertise
ros::Publisher turtle_vel3 = node.advertise
ros::Publisher turtle_vel4 = node.advertise
ros::Publisher turtle_vel5 = node.advertise
ros::Publisher turtle_vel6 = node.advertise
ros::Publisher turtle_vel7 = node.advertise
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());
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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